A control method, system, apparatus, and readable storage medium of a surgical robot system

Abstract

This application relates to the field of surgical robot technology, and provides a control method, system, device, and readable storage medium for a surgical robot system. A puncture device is used to insert into a body opening of a living organism located on the surface of an operating table. The control method includes: acquiring the position registration relationship and attitude registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table; acquiring the initial pose of the puncture device in the reference coordinate system of the operating table based on the position registration relationship and attitude registration relationship; acquiring the motion amount of the operating table surface in response to the motion of the operating table surface, and determining the target pose of the puncture device in the reference coordinate system of the surgical robot based on the initial pose and motion amount of the position registration relationship and attitude registration relationship; determining the target joint variables of the joints in the drive arm based on the target pose; and driving the joints to move according to the target joint variables to maintain the pose of the puncture device relative to the surface of the operating table.

Description

Technical Field

[0001] This application relates to the field of surgical robot technology, and more specifically, to a control method, system, device, and readable storage medium for a surgical robot system. Background Technology

[0002] Minimally invasive surgery refers to surgical procedures performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery. With the advancement of technology, minimally invasive surgical techniques and robotics have gradually matured and are widely used. Robot-assisted minimally invasive surgery is gradually becoming the development trend of minimally invasive surgery and has been gradually applied in actual clinical practice.

[0003] During robot-assisted surgery, surgeons often expect the operating table to move a certain distance or rotate a certain angle to adjust the position of the patient, optimizing the field of vision and operating space. If it is necessary to remove all medical instruments and endoscopes inserted into the patient before moving the operating table, the process is extremely time-consuming and cumbersome. Furthermore, there is no guarantee that the patient's position will be achieved after only one adjustment of the operating table. This makes operating the surgical robot during the adjustment process cumbersome, time-consuming, and potentially harmful to the patient, increasing the uncertainties and risks during the surgery. Summary of the Invention

[0004] This application provides a control method, system, device, and readable storage medium for a surgical robot system, which can solve the problem of how to follow the movement of the operating table in different degrees of freedom, and ensure life safety while flexibly adjusting the position of the organism.

[0005] In a first aspect, embodiments of this application provide a control method for a surgical robot system. The surgical robot system includes a surgical robot and an operating table. A puncture device is mounted at the distal end of a drive arm. The puncture device is used to insert into a body opening of a living organism located on the table surface of the operating table. The method includes:

[0006] Obtain the positional and orientation registration relationships between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table;

[0007] Based on the position registration relationship and the attitude registration relationship, the initial pose of the puncture device in the reference coordinate system of the operating table is obtained;

[0008] In response to the movement of the operating table surface, the motion amount of the operating table surface is acquired, and based on the position registration relationship, posture registration relationship, initial pose and motion amount, the target pose of the puncture device in the reference coordinate system of the surgical robot is determined.

[0009] Determine the target joint variables of the joints in the drive arm based on the target pose;

[0010] The joint movement is driven by the target joint variables to maintain the position of the puncture device relative to the operating table surface.

[0011] Secondly, embodiments of this application provide a surgical robot system, including a surgical robot and an operating table. A puncture device is mounted at the distal end of a drive arm for insertion into a body opening of a living organism located on the operating table surface. The system also includes a controller coupled to the surgical robot and the operating table, configured to:

[0012] Obtain the positional and orientation registration relationships between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table;

[0013] Based on the position registration relationship and the attitude registration relationship, the initial pose of the puncture device in the reference coordinate system of the operating table is obtained;

[0014] In response to the movement of the operating table surface, the motion amount of the operating table surface is acquired, and based on the position registration relationship, posture registration relationship, initial pose and motion amount, the target pose of the puncture device in the reference coordinate system of the surgical robot is determined.

[0015] Determine the target joint variables of the joints in the drive arm based on the target pose;

[0016] The joint movement is driven by the target joint variables to maintain the position of the puncture device relative to the operating table surface.

[0017] Thirdly, embodiments of this application provide a surgical device, which may include either a surgical robot or an operating table. The surgical device includes a first ranging device, a driving device, and a controller. The surgical device is referred to as the first surgical device, and the controller is configured to:

[0018] Based on the position registration relationship and the attitude registration relationship, the initial pose of the puncture device in the reference coordinate system of the operating table is obtained;

[0019] In response to the movement of the operating table surface, the motion amount of the operating table surface is acquired, and based on the position registration relationship, posture registration relationship, initial pose and motion amount, the target pose of the puncture device in the reference coordinate system of the surgical robot is determined.

[0020] Determine the target joint variables of the joints in the drive arm based on the target pose;

[0021] The joint movement is driven by the target joint variables to maintain the position of the puncture device relative to the operating table surface.

[0022] Fourthly, embodiments of this application provide a surgical device, which may include either a surgical robot or an operating table. The surgical device includes:

[0023] The identifier is used to be identified by a first ranging device located on a second surgical device to obtain the relative position of the first surgical device and the second surgical device as measured by the first ranging device, and to obtain the first relative posture between the first ranging device and the identifier as measured by a drive device located on the second surgical device.

[0024] Fifthly, embodiments of this application provide a control device for a surgical robot system, comprising:

[0025] Memory, used to load and execute computer programs;

[0026] A processor is used to load and execute computer programs;

[0027] The computer program is loaded and executed by the processor to implement the control method of the surgical robot system as described above.

[0028] Sixthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the control method for the surgical robot system as described above.

[0029] It is understood that the beneficial effects of the second to sixth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here.

[0030] The beneficial effects of the embodiments in this application compared with the prior art are:

[0031] This application embodiment obtains the positional and orientational registration relationships between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table; based on the positional and orientational registration relationships, it obtains the initial pose of the puncture device in the reference coordinate system of the operating table; in response to the movement of the operating table surface, it obtains the motion amount of the operating table surface, and based on the positional and orientational registration relationships, the initial pose, and the motion amount, it determines the target pose of the puncture device in the reference coordinate system of the surgical robot; based on the target pose, it drives joint movement to maintain the pose of the puncture device relative to the operating table surface, thereby achieving flexible adjustment of the organism's position while ensuring the organism's life safety. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of a main control panel according to an embodiment of this application;

[0034] Figure 2 This is a schematic diagram of an operating device according to an embodiment of this application;

[0035] Figure 3a This is a schematic flowchart of a control method for a surgical robot system according to an embodiment of this application;

[0036] Figure 3b This is a schematic diagram of the control method of another surgical robot system in this application embodiment;

[0037] Figure 4 This is a schematic diagram of the installation of a ranging device in a surgical robot system according to an embodiment of this application;

[0038] Figure 5 A registration diagram of a surgical robot system provided in one embodiment of the present invention is shown;

[0039] Figure 6 A schematic diagram of the installation of a ranging device in another surgical robot system provided by an embodiment of the present invention;

[0040] Figure 7 A registration diagram of another surgical robot system provided in one embodiment of the present invention is shown;

[0041] Figure 8 A schematic diagram of the installation of a ranging device in another surgical robot system provided by an embodiment of the present invention;

[0042] Figure 9 A registration diagram of another surgical robot system provided in one embodiment of the present invention is shown;

[0043] Figure 10 A schematic diagram of the linkage process of another surgical robot system provided in an embodiment of the present invention;

[0044] Figure 11 A schematic diagram of the preoperative preparation process provided in an embodiment of the present invention;

[0045] Figure 12 A schematic diagram of the operating panel of an operating table for another surgical robot system provided in one embodiment of the present invention;

[0046] Figure 13 This is a schematic diagram of another control method for a surgical robot system according to an embodiment of this application.

[0047] Explanation of reference numerals in the attached figures:

[0048] 100-Main operating table; 101-Surgical robot; 105-Operating table; 106-Bio-body; 110-Main arm; 120-Operating unit; 200-Slave operating equipment; 201-Base of surgical robot; 202-Registration device; 203-Fixed support column; 204-Push handrail; 205-Lifting column; 206-Upper arm; 207-Forearm; 208-Orientation platform; 209-Rotating platform; 210-Telescopic arm; 211-Fixed vertical arm; 212-Vertical arm; 213-Turning head; 214-Whirlwind joint; 215-Deflection joint; J5-Rotation joint; 216-Parallelogram linkage device base; 217-First link; 218- Second link; 219-Mechanical arm; 220-Medical device; 221-Telecentric fixed point; 222-Puncture device; 223-Operating table surface; 224-Forward and backward tilting and rotating joint; 225-Left and right tilting and rotating joint; 226-Telescopic column; 227-Fixed column; 228-Base of operating table; 250-Mechanical arm; 260-Adjusting arm; 270-Manipulating arm; 280-Operating table motion mechanism; 301-Support; 302-Turntable; 303-First ranging device; 304-Drive device; 305-Second ranging device; 308-Range signal; 310-Second surgical equipment; 311-Mounting surface; 312-Mounting surface; 313-Marking. Detailed Implementation

[0049] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present application are described in detail below with reference to the accompanying drawings. In the following description, specific details such as particular system structures and techniques are set forth for illustrative purposes and not for limitation, so as to provide a thorough understanding of the embodiments of the present application. However, those skilled in the art will understand that the present application can also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0050] The surgical robot 101 includes a main control panel 100 and slave control devices 200. For example... Figure 1The illustration shows a main control panel 100 according to an embodiment of this application. The main control panel 100 includes an operation unit 120, which includes multiple sets of main joints. The operation unit 120 may also include a main arm 110, with arm joints disposed within the main arm 110 to change the position of the main arm 110. The operation unit 120 may also include a main wrist, with wrist joints disposed within the main wrist to control the position of the main wrist. Optionally, the operation unit 120 may also include a pushable component, by which the position of the operation unit 120 can be changed.

[0051] The operating unit 120 may also include a drive device, such as a motor, which may be equipped with an encoder to realize automatic alignment and other corresponding control functions.

[0052] The operation unit 120 may also include a display device so that the operator can observe the operation device 200.

[0053] like Figure 2 As shown in the schematic diagram of a slave operating device in this embodiment, the slave operating device 200 may include a drive arm and a medical device 220. All joints in the slave operating device 200 are collectively referred to as slave joints. Joints may be provided in both the drive arm and the medical device 220 as needed.

[0054] The operating device 200 may also include a drive mechanism, such as a motor, which enables the drive arm and medical device 220 to move, thereby changing the position of the medical device 220. The medical device may include an imaging device or a surgical end effector, depending on the actual surgical needs. The surgical end effector can be used to perform surgical operations such as cutting and suturing. Examples of end effectors include tissue grippers, needle actuators, scissors, retractors, electrosurgical cauterization tools, suture devices, surgical clamps, ultrasonic cutters, aspiration / irrigation tools, catheters, and ultrasonic probes. The imaging device may be an endoscope.

[0055] Specifically, a master-slave mapping control of posture is established between the master arm 110 and master wrist and the medical device 220 of the slave operating device 200. This mapping can be a correspondence of positional relationships, such as proportional distance or distance trend correspondence. Alternatively, this mapping can be a correspondence of motion relationships, such as motion posture correspondence or motion trend correspondence. Thus, the operator can control the medical device 220 to perform corresponding actions (e.g., pitch, yaw, roll, clamping, etc.) by operating the master arm 110 and master wrist.

[0056] The surgical robot 101 may also include multiple master operating consoles 100 and / or multiple slave operating devices 200. Each operating console may include multiple operating parts 120, and each slave operating device 200 may include multiple medical devices 220. This embodiment of the application is not limited in this respect. For example, the master arm 110 may include two, namely the left arm and the right arm, corresponding to the left hand and the right hand respectively, so that the doctor can operate on them with his left hand and right hand respectively. Optionally, there may be one or more master arms 110, which can be flexibly configured according to the actual situation.

[0057] The drive arm can be designed with arms and joints as needed. Different arms and joints correspond to different kinematic models. Based on the kinematic model, the medical device 22 can be controlled to reach the target pose desired by the doctor. For example, the drive arm includes a robotic arm 250, an adjusting arm 260, a manipulating arm 270, and a base 201. Furthermore, to enable overall movement in any direction on a horizontal surface, rollers may also be included. The rollers make the relative positional relationship between the surgical robot 101 and the operating table 105 more flexible, eliminating the constraints of fixed positions. On-site medical personnel can push the armrest 204 to bring the drive arm close enough to the operating table 105 according to the actual surgical needs, thereby facilitating preoperative positioning above the organism 106 and locking operations after positioning. The drive arm provided in this application embodiment is only an illustrative example and is not intended to limit the scope of protection of this application.

[0058] The robotic arm 250 includes a fixed support column 203 fixedly connected to the base 201 for supporting all the joints of the system; a lifting column 205 for performing the overall lifting linear motion J1 of the robotic arm; a large arm 206 and a small arm 207 for performing rotational motions J2 and J3 respectively; and a directional platform 208 for controlling one or more adjustment arms 260 to perform the overall rotational motion J4. The movement of these joints helps the adjustment arms 260 and the manipulator arms 270 to quickly reach the expected preoperative positioning area, which helps to shorten the docking time between the surgical robot 101 and the biological body 106. In this embodiment, for registration, a registration device 202 is provided on the base 201 or the support column 203. The registration device 202 includes a ranging device or a marker, etc.

[0059] One or more adjusting arms 260 are connected to the orientation platform 208 individually or in parallel via rotary joints J5. In some examples, the drive arm consists of multiple adjusting arms. Considering that the multiple adjusting arms have the same configuration and the motion descriptions of each joint are the same, therefore... Figure 2The structure is presented using only one adjustment arm 260 and one manipulator arm 270 as examples, along with a textual description of the joint motion relationships below. The adjustment arm 260 further includes a small rotating platform 209, a telescopic arm 210 that performs linear translational motion J6 in a horizontal direction parallel to the ground, a fixed vertical arm 211 fixedly connected to the telescopic arm 210, a vertical arm 212 that performs vertical lifting motion J7 and rotational motion J8 along and around a vertical axis perpendicular to the ground, a turning head 213, and a cyclone joint 214 that performs rotational motion J9. The movements of the small rotating platform 209, the telescopic arm 210, and the vertical arm 212 are involved in performing further preoperative positioning operations. Multiple adjustment arms need to be spaced a certain distance from each other to provide sufficient allowable movement space for the manipulator arm 270. In addition, these joint movements are used to adjust the position of the distal fixed point 221 at the end of the manipulator arm 270, so that the end of the manipulator arm 270 can quickly dock with the puncture device 222 inserted into the organism 106. The cyclone joint 214 is used to perform overall posture adjustment of the manipulator 270 in order to avoid collisions of the manipulator during surgery.

[0060] The manipulator 270 further includes a deflection joint 215 that rotates with the cyclone joint 214 (J10), a parallelogram linkage base 216, a first link 217 and a second link 218 that perform the rotational motion (J11), and a holding arm 219 for mounting the medical device 220 and performing linear motion (J12) along the guide rail direction. The trocar telecentric fixed point 221, which is the same as the opening point of the abdominal wall of the organism 106, is defined by the intersection of the axis of the cyclone joint 214 and the axis of the deflection joint 215. It also converges at a point with the intersection of these two axes with the lateral center plane of the parallelogram linkage device base 216. In addition, the first link 217 and the second link 218, as two adjacent sides, together with two virtual adjacent sides parallel to them, form a parallelogram motion mechanism. It is controlled by a single motor and performs the folding and opening motion of the parallelogram around the rotational motion J11 axis. The motion fixed point of the parallelogram also intersects with the trocar telecentric fixed point 221 at a point, and this fixed point is located on the central axis of the medical device 220. After the medical device is inserted into the body of the organism 106, it performs the surgical actions of the master operator based on the master-slave registration relationship. In order to obtain sufficient operating space at the surgical site, the medical device 220 is usually a certain distance away from the trocar telecentric fixed point 221. The operating table 105 further includes a biological body 106 fixed on the operating table and an operating table motion mechanism 280. The operating table motion mechanism 280 further includes a base 228 movable on a horizontal ground, a fixed column 227, a telescopic column 226, a front-to-back tilting rotation joint 224, a left-to-right tilting rotation joint 225, and an uppermost horizontal operating table surface 223. The fixed column 227 is fixed to the base 228 by bolts. The telescopic column 226 can move relative to the fixed column 227 to perform a vertical lifting motion B2. At the same time, the two serve as an integral support mechanism to support the operating table surface and the biological body 106. The rotational motion B3 axis of the front-to-back tilting rotation joint 224 and the rotational motion B4 axis of the left-to-right tilting rotation joint 225 intersect at a position between the operating table surface 223 and the telescopic column 226. Above this is the operating table surface 223 used to support and fix the biological body 106. The translational motion B1 of the operating table surface is performed by a telescopic transmission mechanism located inside the operating table surface. The operating table 105 may also include a control unit for storing motion joint variable information of each joint of the operating table 105, and transmitting the motion joint variable information of the operating table to the control unit of the drive arm via wireless or wired means. The opening can be a man-made incision or a naturally occurring part of the body, such as the navel or anus.

[0061] The surgical robot 101 may also include a controller, which can be integrated into the main operating console 100, the slave operating device 200, or the operating table 105. Alternatively, the controller can be independent of the main operating console 100 and the slave operating device 200; for example, it can be deployed locally, or it can be deployed in the cloud. The controller can consist of one or more processors. It should be noted that there can be multiple controllers, each processing different information. These controllers can include one master controller and the others slave controllers, or they can operate relatively independently.

[0062] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0063] During robot-assisted surgery, doctors often expect the operating table to move horizontally a certain distance or rotate a certain angle to adjust the position of the organism 106 during the operation, so as to improve or optimize the field of vision and operating space of the surgical site of the organism 106.

[0064] Since the relative positions of the surgical robot 101 and the operating table 105 may differ in each surgery, and the body size of the organism 106 varies, resulting in different opening positions for the puncture device 222, and the movement and adjustment of the operating table 105 also vary, it is crucial to control the surgical robot 101 to appropriately adjust its posture to follow the movement of the operating table 105, thus maintaining a constant relative posture between the organism 106 and the puncture device 222, given so many unknowns. This embodiment of the application uses a ranging device to measure the relative positions of the surgical robot 101 and the operating table 105, thereby determining the registration relationship between the surgical robot 101 and the operating table 105. Therefore, it solves the problem of controlling the surgical robot 101 to appropriately adjust its posture to follow the movement of the operating table 105 when the specific opening positions of different organisms 106 are unknown, thus ensuring life safety.

[0065] like Figure 3a This is a schematic flowchart of a control method for a surgical robot system according to an embodiment of the present invention. In the control method for a surgical robot system provided in this embodiment, the surgical robot system includes a surgical robot 101 and an operating table 105. A puncture device 222 is installed at the distal end of the drive arm. The puncture device is used to insert into the body opening of a living organism located on the operating table surface, including:

[0066] Step S301: Obtain the position registration relationship and attitude registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table. The reference coordinate system of the surgical robot can be selected from the base coordinate system of the surgical robot, the end effector coordinate system of the adjusting arm, the end effector coordinate system of the robotic arm, the coordinate system of the imaging device, the coordinate system of the display device, etc. The reference coordinate system of the operating table includes the table surface coordinate system, the axis coordinate system of the operating table, the base coordinate system of the operating table, etc., as well as a coordinate system parallel to the coordinate axes of the aforementioned coordinate systems but with a different origin. The reference coordinate system of the surgical robot can also be called the coordinate system on the surgical robot side, and the reference coordinate system of the operating table can also be called the coordinate system on the operating table side. The position registration relationship and attitude registration relationship can be calculated in real time or pre-calculated and directly invoked. The rotation center of the operating table's rotational motion is an isocenter point; an isocenter point coordinate system is established based on this isocenter point, which can also be called the aforementioned axis coordinate system of the operating table.

[0067] Step S302: In response to the movement of the operating table surface, control the movement of the puncture device to maintain the position of the puncture device relative to the operating table surface, which may include the following steps:

[0068] Step S3021: Based on the position registration relationship and the attitude registration relationship, obtain the initial pose of the puncture device in the reference coordinate system of the operating table. The initial pose is the pose relative to the reference coordinate system of the operating table. For example, the reference coordinate system of the operating table can be selected from the table surface coordinate system, the axis coordinate system, the base coordinate system, or any coordinate system parallel to the coordinate axes of the aforementioned coordinate systems but with a different origin. For example, the initial pose is the pose in the base coordinate system of the operating table. It can be understood that the initial pose of the puncture device in the base coordinate system of the operating table can be obtained directly, or the pose can be obtained in the table surface coordinate system or the axis coordinate system of the operating table, and then converted into the pose in the base coordinate system of the operating table according to the registration relationship between the coordinate systems.

[0069] Step S3022: In response to the movement of the operating table surface, acquire the motion amount of the operating table surface, and determine the target pose of the puncture device in the reference coordinate system of the surgical robot based on the position registration relationship, attitude registration relationship, initial pose, and motion amount. The motion amount of the operating table can usually be measured by the motion amount of the operating table surface.

[0070] Step S3023: Based on the target pose, control the joint movement of the drive arm to maintain the pose of the puncture device relative to the operating table surface, specifically including:

[0071] Step S3024: Determine the target joint variables of the joints in the drive arm based on the target pose;

[0072] Step S3025: Drive joint movement according to the target joint variable to maintain the position of the puncture device relative to the operating table surface.

[0073] In this embodiment, the puncture device is used as the control object and the object for determining the initial pose and the target pose. Optionally, the puncture device can be replaced with a medical device, and the puncture device can be used as the control object and the object for determining the initial pose and the target pose. Alternatively, the puncture device and the medical device can be used together, with some of them serving as the control object and others serving as the object for determining the initial pose and the target pose.

[0074] This application embodiment utilizes the position and posture registration relationships between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table to determine the target joint variables of the joints in the drive arm after the operating table moves. Based on the target joint variables, the drive arm is controlled to drive the puncture device to move, thereby maintaining the position of the puncture device relative to the operating table surface. This achieves flexible adjustment of the organism's position while ensuring the organism's life safety.

[0075] In another embodiment of this application, a control method for a surgical robot system is provided. The surgical robot system includes a surgical robot 101 and an operating table 105. A puncture device 222 is mounted at the distal end of the drive arm. The puncture device is used to insert into the body opening of a living organism located on the table surface of the operating table. Step S3021 obtains the initial pose of the puncture device in the reference coordinate system of the operating table based on the position registration relationship and the posture registration relationship. Specifically, it includes:

[0076] Step 1: Obtain the initial joint variables of the drive arm. In this embodiment, the pose of the puncture device before the operating table is moved is considered the initial pose, and the joint variables of the drive arm corresponding to the initial pose are considered the initial joint variables. In this embodiment, the initial joint variables are obtained through a measuring device installed in the drive arm. Optional measuring devices can be sensors, such as encoders in motors, which can measure joint variables.

[0077] Step 2: Based on the initial joint variables and positive kinematics, determine the initial pose of the puncture device in the robot's reference coordinate system. The initial pose can be freely selected from the robot's reference coordinate system, including the surgical robot's base coordinate system, the end effector coordinate system, the robotic arm's end effector coordinate system, the imaging device's coordinate system, etc. In this embodiment, the coordinate system can be flexibly selected to determine the pose of the puncture device in the surgical robot's reference coordinate system before the operating table moves.

[0078] Optionally, fine-tuning the operating table is safer. During operating table adjustments, the surgical robot's adjustment of the puncture device should keep pace with the operating table's adjustment in real time, which is safer, although a certain time lag is permissible. If the entire operating table adjustment process is considered a single, complete adjustment process, then this complete process contains many small sub-adjustment processes. The position of the puncture device at the end of each sub-adjustment process is the initial position of the puncture device at the start of the next sub-adjustment process.

[0079] Step 3: Determine the initial position of the puncture device in the reference coordinate system of the operating table based on the initial position of the puncture device and the position / attitude registration relationship between the coordinate systems.

[0080] The optional reference coordinate system for the operating table includes the table surface coordinate system, the axis coordinate system, or the base coordinate system. The registration relationship between coordinate systems refers to the registration relationship between the coordinate system selected on the robot side and the coordinate system selected on the operating table side. For example, if the coordinate system selected on the robot side is the base coordinate system of the surgical robot, and the coordinate system selected on the operating table side is the base coordinate system of the operating table, then the registration relationship between the coordinate systems refers to the registration relationship between the base coordinate system of the surgical robot and the base coordinate system of the operating table. If the coordinate system selected on the robot side is the base coordinate system of the surgical robot, and the coordinate system selected on the operating table side is the table surface coordinate system, then the registration relationship between the coordinate systems refers to the registration relationship between the base coordinate system of the surgical robot and the table surface coordinate system. After determining the pose of the puncture device in the table surface coordinate system, it can be further converted to the pose of the puncture device in the base coordinate system of the operating table, as needed, based on the registration relationship between the table surface coordinate system and the base coordinate system of the operating table.

[0081] In this embodiment, the coordinate system and the corresponding registration relationship between the coordinate systems can be flexibly selected, aiming to determine the initial pose of the puncture device in the reference coordinate system of the operating table before the operating table moves.

[0082] Optionally, step S3022, in response to the movement of the operating table surface, acquires the motion amount of the operating table surface, and determines the target pose of the puncture device in the reference coordinate system of the surgical robot based on the position registration relationship, posture registration relationship, initial pose, and motion amount, including:

[0083] Step 1: Acquire the motion of the operating table surface. This embodiment acquires the motion of the operating table surface using a measuring device installed in the operating table. The motion of the operating table can include rotation angle, horizontal movement distance, and vertical movement distance, as well as any combination thereof. Optional measuring devices can be sensors, such as encoders in motors, which can measure joint variables, such as translational distance or rotation angle. Optionally, the motion of the operating table surface can be acquired periodically or irregularly, for example, at intervals T. T can be flexibly selected as needed; a shorter T results in higher control accuracy, but frequent data acquisition will also consume more system resources.

[0084] Step 2: In response to the movement of the operating table, based on the initial pose of the puncture device in the reference coordinate system of the operating table and the amount of movement of the operating table, determine the target pose of the puncture device in the reference coordinate system of the operating table. This target pose can be called the first pose.

[0085] Step 3: Based on the first pose, position registration relationship and attitude registration relationship, determine the target pose of the puncture device in the reference coordinate system of the surgical robot.

[0086] Optionally, the second and third steps can be combined into one step, directly determining the target pose of the puncture device in the reference coordinate system of the surgical robot based on the initial pose, the amount of motion of the operating table, the position registration relationship, and the attitude registration relationship, thus eliminating the need to determine the first pose.

[0087] This application embodiment utilizes the position and posture registration relationships between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table to determine the target pose of the joint in the drive arm after the operating table moves, and controls the drive arm to drive the puncture device to move according to the target pose, thereby maintaining the pose of the puncture device relative to the operating table surface, thus achieving flexible adjustment of the body position while ensuring the life safety of the body.

[0088] In another embodiment of the control method for a surgical robot system provided in this application, such as Figure 3b The schematic diagram of the control method of a surgical robot system provided in an embodiment of the present invention is shown. The surgical robot system includes a surgical robot 101 and an operating table 105. A puncture device 222 is installed at the distal end of the drive arm. The puncture device is used to insert into the body opening of a organism located on the table surface of the operating table. The control method includes:

[0089] Step S401: Obtain the position registration relationship and attitude registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table. The reference coordinate system of the surgical robot can be selected from the robot's base coordinate system, the end effector coordinate system of the adjusting arm, the end effector coordinate system of the robotic arm, the coordinate system of the imaging device, the coordinate system of the display device, etc. The reference coordinate system of the operating table includes the table surface coordinate system, the axis coordinate system, the base coordinate system, etc., as well as a coordinate system parallel to the coordinate axes of the aforementioned coordinate systems but with a different origin. The reference coordinate system of the surgical robot can also be called the coordinate system on the surgical robot side, and the reference coordinate system of the operating table can also be called the coordinate system on the operating table side. The position registration relationship and attitude registration relationship can be calculated in real time or pre-calculated and directly invoked.

[0090] Step S402: In response to the movement of the operating table surface, control the movement of the puncture device to maintain the position of the puncture device relative to the operating table surface, which may include the following steps:

[0091] Step S4021: In response to the movement of the operating table surface, obtain the first pose of the puncture device in the reference coordinate system of the operating table. The first pose is the pose relative to the reference coordinate system of the operating table. For example, the reference coordinate system of the operating table can be selected from the table surface coordinate system, the axial coordinate system, the base coordinate system, or any coordinate system parallel to the coordinate axes of the aforementioned coordinate systems but with a different origin. For example, the first pose is the pose in the base coordinate system of the operating table. It can be understood that the first pose of the puncture device in the base coordinate system of the operating table can be obtained directly, or the pose can be obtained in the table surface coordinate system and the axial coordinate system of the operating table, and then converted into the pose in the base coordinate system of the operating table according to the registration relationship between the coordinate systems.

[0092] Step S4022: Based on the position registration relationship, attitude registration relationship, and first pose, determine the second pose of the puncture device in the reference coordinate system of the surgical robot. According to the registration relationship and first pose selected in the preceding steps, the coordinate system relative to the second pose and the corresponding pose are determined. For example, the position registration relationship and attitude registration relationship refer to the registration relationship between the base coordinate system of the surgical robot and the base coordinate system of the operating table, and the first pose refers to the pose in the base coordinate system of the operating table; thus, the second pose of the puncture device in the base coordinate system of the surgical robot can be determined.

[0093] Step S4023: Determine the target joint variables of the drive arm based on the second pose according to inverse kinematics.

[0094] Step S4024: Drive joint movement according to the target joint variables to maintain the position of the puncture device relative to the operating table surface.

[0095] In this embodiment, the puncture device is used as the control object and the object for determining the initial pose and the target pose. Optionally, the puncture device can be replaced with a medical device, and the puncture device can be used as the control object and the object for determining the initial pose and the target pose. Alternatively, the puncture device and the medical device can be used together, with some of them serving as the control object and others serving as the object for determining the initial pose and the target pose.

[0096] This application embodiment utilizes the position and posture registration relationships between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table to determine the target joint variables of the joints in the drive arm after the operating table moves. Based on the target joint variables, the drive arm is controlled to drive the puncture device to move, thereby maintaining the position of the puncture device relative to the operating table surface. This achieves flexible adjustment of the organism's position while ensuring the organism's life safety.

[0097] In another embodiment of this application, a control method for a surgical robot system is provided. The surgical robot system includes a surgical robot and an operating table. A puncture device is mounted at the distal end of the drive arm. The puncture device is used to insert into the body opening of a living organism located on the operating table surface. The steps are responsive to the movement of the operating table surface, controlling the movement of the puncture device to maintain the position of the puncture device relative to the operating table surface. Specifically, the method includes:

[0098] The movement of the operating table surface can include three degrees of freedom: vertical movement, horizontal movement, and rotational movement. For most operating tables, each degree of freedom is usually adjusted individually, which allows for more precise fine-tuning.

[0099] Direction of Lifting / Lowering Movement: The operating table moves up and down vertically, perpendicular to the ground. Without the control method of the surgical robot system in this embodiment, the relative position of the puncture device and the organism might change, potentially posing a risk to the organism's life. To ensure the relative posture of the puncture device and the organism remains constant, the surgical robot system controls the puncture device to move up and down by the same distance, in the same direction as the operating table, thus counteracting the movement of the operating table and maintaining the puncture device's posture relative to the organism. Since the organism is attached to the operating table, its posture relative to the operating table remains unchanged regardless of the table's movement. Therefore, the unchanged posture of the puncture device relative to the organism is equivalent to its unchanged posture relative to the operating table.

[0100] The vertical lifting distance of the operating table can be measured by a measuring device installed in the operating table. For example, the encoder in the motor can measure the joint variables corresponding to the lifting of the operating table, thereby determining the corresponding lifting distance.

[0101] The surgical robot system controls the puncture device to move up and down by the same distance. Optionally, depending on the specific situation of the drive arm, the joints that can change the height of the puncture device can be adjusted, such as... Figure 2 The lifting column shown can lock the other joints of the surgical robot to keep it stationary. If the specific drive arm configuration of the selected surgical robot differs from... Figure 2 Therefore, it is only necessary to find a joint that can change the height of the puncture device and make adjustments. This application does not limit the specific joint.

[0102] Horizontal movement direction: The operating table moves horizontally in a direction parallel to the ground. Similarly, without the control method of the surgical robot system in this embodiment, the relative position of the puncture device and the organism may change, potentially posing a risk to the organism's life. To ensure that the relative posture of the puncture device and the organism remains unchanged, the surgical robot system controls the puncture device to move horizontally a equidistant distance in the same direction as the operating table, thereby counteracting the movement of the operating table and maintaining the posture of the puncture device relative to the organism.

[0103] The horizontal movement distance of the operating table along the horizontal direction can be measured by a measuring device installed in the operating table. For example, the encoder in the motor can measure the joint variables corresponding to the horizontal movement of the operating table, thereby determining the corresponding horizontal distance.

[0104] The operating table moves horizontally in a direction parallel to the ground, which may include horizontal movement along the length of the organism, or horizontal movement in a direction perpendicular to the length of the organism, or horizontal movement in a direction at a certain angle to the length of the organism.

[0105] In this system, the surgical robot controls the puncture device to move horizontally a equidistant distance. Optionally, depending on the specific circumstances of the drive arm, joints that can change the horizontal position of the puncture device can be adjusted, such as... Figure 2 As shown in J5, J6, and J8, the other joints of the surgical robot can be locked to remain stationary. If the specific drive arm configuration of the selected surgical robot differs from... Figure 2 Therefore, it is only necessary to find and adjust the joint that can change the horizontal position of the puncture device. This application does not limit the specific joint.

[0106] Rotational motion direction: The operating table moves up and down along its axis. Similarly, without the control method of the surgical robot system in this embodiment, the relative position of the puncture device and the organism may change, potentially posing a risk to the organism's life. To ensure that the relative posture of the puncture device and the organism remains unchanged, the surgical robot system controls the puncture device to rotate at the same angle, in the same direction as the operating table, thereby counteracting the movement of the operating table and maintaining the posture of the puncture device relative to the organism.

[0107] The rotation angle of the operating table can be measured by a measuring device installed in the operating table, such as an encoder in the motor, which can measure the corresponding rotation angle of the operating table.

[0108] The surgical robot system controls the puncture device to rotate at the same angle. Optionally, depending on the specific situation of the drive arm, the joints that control the rotation of the puncture device can be adjusted, such as... Figure 2 The joints of the adjusting arm 260 and manipulating arm 270 shown can be locked to keep the other joints of the robot stationary. If the specific drive arm configuration of the selected robot differs from... Figure 2 Therefore, it is only necessary to find and adjust the joint that controls the rotation of the puncture device. This application does not limit the specific joint.

[0109] The operating table can rotate back and forth around the axis of the front and rear tilting joint 224 under the action of the front and rear tilting joint 224 (B3), or the operating table can rotate left and right around the axis of the left and right tilting joint 225 under the action of the left and right tilting joint 225 (B4).

[0110] Optionally, the movement of the operating table may not be a simple individual movement of the three degrees of freedom, but a combined movement of any two of them. In this case, the principle is the same as that of the single-degree-of-freedom movement described above. The difference is that the amount of movement is in at least two degrees of freedom. The movement of the operating table surface can still be obtained by a measuring device set in the operating table. Then, the puncture device is controlled to move equally in each degree of freedom by adjusting the joints of the drive arm. The specific process will not be described in detail here.

[0111] Optionally, the operating table can be adjusted as a whole or in sections. For example, the operating table may be divided into front and rear sections, which can be adjusted independently to adjust the position of the upper or lower body of the organism. This application does not specifically limit the specific adjustment structure of the operating table. This application embodiment adjusts the joints in the drive arm in response to the movement of the operating table surface to control the movement of the puncture device, maintaining the position of the puncture device relative to the operating table surface. This achieves flexible adjustment of the organism's position while simultaneously ensuring the organism's safety.

[0112] In another embodiment of this application, a control method for a surgical robot system is provided. The surgical robot system includes a surgical robot and an operating table. A puncture device is mounted at the distal end of the drive arm. The puncture device is used to insert into a body opening of a living organism located on the table surface of the operating table. The method includes:

[0113] Obtain the positional and orientation registration relationships between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table;

[0114] In response to the movement of the operating table surface, the first position of the puncture device in the reference coordinate system of the operating table is obtained;

[0115] Based on the position registration relationship, the attitude registration relationship, and the first pose, the second pose of the puncture device in the reference coordinate system of the surgical robot is determined;

[0116] The joint movement is driven by the second position to maintain the position of the puncture device relative to the operating table surface.

[0117] Among them, obtaining the first pose of the operating table surface in the operating table's reference coordinate system includes:

[0118] Step 1: Obtain the initial joint variables of the drive arm.

[0119] Step 2: Based on the initial joint variables and positive kinematics, determine the initial pose of the puncture device in the robot's reference coordinate system.

[0120] Step 3: Determine the initial position of the puncture device in the reference coordinate system of the operating table based on the initial position of the puncture device and the position / attitude registration relationship between the coordinate systems.

[0121] The principle of determining the initial pose of the puncture device in the reference coordinate system of the operating table, as described above, will not be repeated here. In the embodiments of this application, the coordinate system and the corresponding registration relationship between the coordinate systems can be flexibly selected, aiming to determine the pose of the puncture device in the reference coordinate system of the operating table before the operating table moves.

[0122] Step 4: Acquire the motion of the operating table. The motion of the operating table is usually measured by the movement of its surface. This embodiment acquires the motion of the operating table using a measuring device installed within it. This motion can include rotation angle, horizontal movement distance, and vertical movement distance, as well as any combination thereof. Optional measuring devices can be sensors, such as encoders in motors, which can measure joint variables, such as translational distance or rotation angle. Optionally, the motion of the operating table can be acquired periodically or irregularly, for example, at intervals T. T can be flexibly selected as needed; a shorter T results in higher control accuracy, but frequent data acquisition will consume more system resources.

[0123] Step 5: In response to the movement of the operating table, based on the initial pose of the puncture device in the reference coordinate system of the operating table and the amount of movement of the operating table, determine the target pose of the puncture device in the reference coordinate system of the operating table. This target pose can be called the first pose.

[0124] The method of controlling the joint movement of the drive arm based on the second pose to maintain the pose of the puncture device relative to the operating table includes:

[0125] Determine the target joint variables of the joints in the drive arm based on the second pose;

[0126] The joint movement is driven by the target joint variables to maintain the position of the puncture device relative to the operating table surface.

[0127] This application embodiment obtains the first position of the operating table surface in the operating table's reference coordinate system in response to the movement of the operating table surface. This facilitates further adjustment of the joints in the drive arm to control the movement of the puncture device, so as to keep the position of the puncture device relative to the operating table surface unchanged. This achieves flexible adjustment of the organism's position while ensuring the organism's life safety.

[0128] In another embodiment provided in this application, the surgical robot system includes a surgical robot and an operating table. A puncture device is mounted at the distal end of the drive arm. The system acquires the positional and orientation registration relationships between the reference coordinate systems of the surgical robot and the operating table, including:

[0129] The reference coordinate system for a surgical robot can be selected from various options, including the robot's base coordinate system, the end effector coordinate system, the robotic arm's end effector coordinate system, the coordinate system of the imaging device, the coordinate system of the display device, the end effector coordinate system of the medical instrument, and the telecentric fixed point coordinate system. The reference coordinate system for the operating table includes the operating table's surface coordinate system, the operating table's axis coordinate system, the operating table's base coordinate system, and a coordinate system parallel to the coordinate axes of the aforementioned systems but with a different origin. The reference coordinate system for the surgical robot can also be called the robot-side coordinate system, and the reference coordinate system for the operating table can also be called the operating table-side coordinate system. The reference coordinate system for the surgical robot and the reference coordinate system for the operating table can be selected as needed.

[0130] The position and attitude registration relationships can be calculated in real time or pre-calculated and directly invoked. Optionally, after entering the linkage mode, registration can be performed first, and linkage control can be initiated only after successful registration; alternatively, registration can be performed after the operating table and the base of the surgical robot are locked, and the registration result can be directly invoked after entering the linkage mode. Re-registration is performed as soon as movement of the operating table or the base of the surgical robot is detected. This ensures both rapid entry into linkage control and the accuracy of the registration results.

[0131] For example, taking the selection of the reference coordinate system of the surgical robot and the reference coordinate system of the operating table as an example, the position registration relationship and attitude registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table are obtained, including:

[0132] Obtaining the positional registration relationship between the base coordinate system of the surgical robot and the base coordinate system of the operating table can also be simply referred to as obtaining the positional registration relationship between the surgical robot and the operating table;

[0133] Obtaining the attitude registration relationship between the base coordinate system of the surgical robot and the base coordinate system of the operating table can also be simply referred to as obtaining the attitude registration relationship between the surgical robot and the operating table.

[0134] There is no requirement for the order in which the position registration relationship and the attitude registration relationship are obtained.

[0135] In one scenario, the base coordinate system of the surgical robot can be established on the base 201 of the surgical robot and includes two horizontal coordinate axes (e.g., x-axis and y-axis) located on a horizontal plane. The base coordinate system of the operating table is established on the base 228 of the operating table and includes two horizontal coordinate axes (e.g., x-axis and y-axis) located on a horizontal plane. Meanwhile, the horizontal planes of the motion chassis and the wheeled chassis are parallel to each other. In this way, the attitude angle between the base coordinate system of the surgical robot and the base coordinate system of the operating table can be characterized simply as the relative deflection angle between the horizontal coordinate axes of the base coordinate system of the surgical robot and the horizontal coordinate axes of the base coordinate system of the operating table, thereby simplifying the coordinate transformation calculation.

[0136] Specifically, in this embodiment, the base coordinate system of the surgical robot is established at the center of the base 201, so that the base coordinate system of the surgical robot has a two-dimensional coordinate system (Orobot-Xrobot-Yrobot) parallel to the ground. The base coordinate system of the operating table is established at the center of the base 228, so that the base coordinate system of the operating table has a two-dimensional coordinate system (Obed-Xbed-Ybed) parallel to the ground. Without considering the unevenness of the ground, the axis Zrobot of the base coordinate system of the surgical robot and the Zbed of the base coordinate system of the operating table are parallel to each other and perpendicular to the ground. Since the relative pose relationship between the surgical robot and the operating table is not fixed, there is an angle θz around the Z-axis between the coordinate systems Orobot-Xrobot-Yrobot-Zrobot and Obed-Xbed-Ybed-Zbed. This angle θz is the unknown variable used for attitude positioning between the base coordinate system of the surgical robot and the base coordinate system of the operating table.

[0137] like Figure 4As shown in the installation diagram of the ranging module, in this embodiment, the first surgical device is configured with a first ranging device for measuring distance and a driving device 304 for measuring the angle between the first ranging device 303 and the first surgical device. The second surgical device 310 is configured with an identifier 313. The first surgical device includes one of a surgical robot and an operating table, and the second surgical device 310 includes the other of a surgical robot and an operating table. The first ranging device 303 is used to obtain the relative position of the surgical robot and the operating table by identifying the identifier 313. The first ranging device 303 may include a laser sensor, which typically has ultra-high precision to facilitate accurate distance measurement. The laser sensor can emit a laser beam, and when the laser beam shines on the object being measured, the distance between the two can be measured. The first ranging device 303 may also include an infrared sensor, a vision sensor, an ultrasonic sensor, or a radar sensor, etc. When the first ranging device 303 is placed on the surgical robot, the first ranging device 303 emits a ranging signal 308 to the operating table, thereby measuring the relative position of the surgical robot and the operating table. When the first ranging device 303 is placed on the operating table, it transmits a ranging signal 308 to the surgical robot to measure the relative position between the surgical robot and the operating table. To facilitate smooth rotation, a fixed turntable 302 can be configured for the first ranging device 303. The first ranging device 303 can be placed on a support 301 and then installed on the surgical equipment. It is understood that the support 301 can be omitted, and it can be directly installed on the first surgical equipment. It is understood that regardless of the installation method, as long as the installation parameters are known, the determination of the registration relationship will not be affected.

[0138] Optionally, to facilitate the transmission of the ranging signal 308 by the ranging device, the first ranging device 303 or a receiver of the signal transmitted by the first ranging device 303 may be provided on two adjacent surfaces of the surgical robot and the operating table. It is understood that the first ranging device 303 may also be provided on the top surface of the supporting part of the surgical robot or operating table, or it may be provided on the intersection line of the surfaces. This application does not limit this, as long as the ranging signal 308 can be received by the receiver. The supporting part may include, for example, a base or a support column. The surface on which the first ranging device 303 is provided may be called the mounting surface.

[0139] In this embodiment, an identifier 313 is provided on an adjacent surface of either the surgical robot or the operating table. For example, if the first ranging device 303 is located on the surgical robot, then the identifier 313 is located on the operating table; conversely, if the first ranging device 303 is located on the operating table, then the identifier 313 is located on the surgical robot. The first ranging device 303 can identify the identifier 313. When the ranging signal 308 emitted by the first ranging device 303 is transmitted to the identifier 313, it can prompt the user. The distance measurement value corresponding to the first ranging device 303 at this time represents the distance between the first ranging device 303 and the identifier, which can be used as the relative position distance between the surgical robot and the operating table. The prompt to the user can take any form, such as sound, image, or message; this application does not impose specific limitations.

[0140] In this embodiment, the identifier 313 is used to be identified by the first ranging device 303, thereby obtaining the distance measurement value corresponding to the first ranging device 303 at this time, so as to calculate the position translation of the base coordinate system of the surgical robot and the base coordinate system of the operating table. One of the base coordinate systems of the surgical robot and the operating table can be called the first coordinate system, and the other can be called the second coordinate system. To facilitate identification by the first ranging device 303, after the identifier 313 is set on the mounting surface of the surgical robot or operating table, the identifier 313 has a height difference with the mounting surface. The mounting surface refers to the position where the identifier 313 is set on the surgical robot or operating table, such as the upper surface (top surface), side surface, or the intersection of two surfaces. Optionally, the identifier 313 is a label with a certain thickness, which can be pasted or fixed to the mounting surface by other means. The label can have a certain width, or it can be relatively narrow; when it is relatively narrow, it can be regarded as a line with a certain thickness. Optionally, the mounting surface can also be made into a plane with a height difference, for example... Figure 4 In the model, 311 and 312, due to their different heights, will create an intersection at their junction. This intersection can serve as a marker. Alternatively, the mounting surface can be designed with a groove; similarly, the groove can have a certain width or be relatively narrow. Or, the mounting surface can be designed with a protrusion; similarly, the protrusion can have a certain width or be relatively narrow.

[0141] In this embodiment, two surfaces with different heights are formed by setting an identifier 313, which can be identified by the first ranging device 303 to obtain the relative position of the surgical robot and the operating table, making it easier to determine the position translation between the first coordinate system and the second coordinate system.

[0142] Furthermore, the surgical robot includes a drive device 304 for driving the first ranging device 303 to move. Optionally, the drive device 304 is positioned below the first ranging device 303 to better drive its movement. By driving the first ranging device 303 to move, the marker 313 can be identified more quickly. For example, the first ranging device 303 can be driven to scan from a direction perpendicular to the mounting surface to both sides, or from a direction parallel to the mounting surface. When the marker 313 is scanned, the distance measurement value corresponding to the first ranging device 303 is obtained. The drive device 304 can also be positioned to the side of the first ranging device 303, as long as it can drive the first ranging device 303 to move; this embodiment does not impose specific limitations. The specific scanning process includes:

[0143] Obtain the target scanning range;

[0144] The rangefinder is controlled to rotate and reciprocate within the target scanning range.

[0145] Determine whether an identifier has been detected;

[0146] If so, obtain the target scan data corresponding to the scanned identifier, including the target distance;

[0147] Determine whether the conditions for stopping the scan are met;

[0148] If the conditions for stopping scanning are not met, the target scanning range is narrowed to become the updated target scanning range, and the process returns to the step of controlling the ranging device to rotate and reciprocate scanning within the target scanning range.

[0149] If the conditions for stopping scanning are met, the distance between the ranging device and the marker or the distance between the surgical robot and the operating table is determined based on the acquired target scanning data, and the scanning angle corresponding to the distance is obtained as the scanning angle of the ranging device.

[0150] The conditions for stopping the scan include at least one of the following:

[0151] The number of times the identifier has been detected has reached the preset number;

[0152] The difference in target distance between the two most recent scans is less than or equal to a preset difference.

[0153] The target scanning range is reduced to a constant value;

[0154] The target scanning range is scanned to find a unique distance value.

[0155] The ranging device, driven by the drive unit, performs a reciprocating scanning motion. During the scanning process, as more markers are detected, the scanning range continuously decreases. During this process, the target distance at each marker detection is recorded, along with the corresponding target scanning angle. If the number of scans reaches two or more, and the difference between the target distances in the two most recent scans is less than or equal to a preset difference, the scanning can be stopped. The distance between the ranging device and the marker is determined based on the target distances in the two most recent scans, for example, by taking the average or the most recent target distance. The scanning angle corresponding to the most recent target distance can then be obtained as the scanning angle at which the ranging device detects the marker.

[0156] In another embodiment, scanning can be stopped when the scanning range gradually shrinks to a constant value. At this point, the ranging device is aligned with the marker. Alternatively, the data scanned within the target scanning range may contain only a single distance value, in which case the ranging device is also aligned with the marker. In this case, the target distance from the last scan data is used as the distance between the ranging device and the marker. Simultaneously, after stopping, the ranging device can obtain the angle between the ranging device and the emitted detection signal through encoder data acquisition and calculation, which is the scanning angle at which the ranging device scanned the marker. Thus, by setting the conditions for stopping scanning, a more accurate distance and scanning angle can be obtained, improving ranging efficiency. The detection signal can also be a detection light or a ranging signal. The scanning angle can characterize the angle between the ranging device and the first surgical device.

[0157] Obtain the positional registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, including:

[0158] When the first ranging device 303 rotates under the drive of the driving device 304 and scans the marker 313, the distance between the first ranging device 303 and the marker 313 is obtained, and the angle between the first ranging device 303 and the first surgical device is also obtained. Optionally, the driving device 304 is also used to measure the angle between the first ranging device 303 and the first surgical device, for example, the angle between the ranging signal 308 emitted by the first ranging device 303 and the first surgical device. Since the marker 313 is identified at this time, this angle can be used as the relative attitude between the marker 313 and the first ranging device 303. Optionally, the angle between the line connecting the first ranging device 303 and the marker 313 and the perpendicular plane of the mounting surface of the first ranging device 303 can be used as the relative attitude, or the angle between the line connecting the first ranging device 303 and the marker 313 and the mounting surface of the first ranging device 303 can be used as the relative attitude. Alternatively, the angle between the line connecting the first ranging device 303 and the marker 313 and the horizontal axis of the base coordinate system of the first surgical device can be used as the relative orientation of the marker 313 and the first ranging device 303. To facilitate obtaining the angle measurement value of the driving device 304, the angle obtained by the driving device 304 in the vertical direction or horizontal axis direction of the mounting surface can be preset to 0 degrees. When the driving device 304 drives the first ranging device 303 to move and scan, the reading of the driving device 304 is the angle between the line connecting the first ranging device 303 and the marker 313 and the vertical or horizontal axis direction of the mounting surface of the first ranging device 303. Alternatively, the angle obtained by the driving device 304 in the mounting surface direction or horizontal axis direction can be preset to 0 degrees, and the reading of the driving device 304 is the angle between the line connecting the first ranging device 303 and the marker 313 and the mounting surface or horizontal axis direction of the first ranging device 303. It is understood that other directions can also be selected with the angle obtained by the driving device 304 set to 0 degrees. Optionally, the drive device 304 may include a motor or a hydraulic cylinder or other power equipment, and this application embodiment does not impose specific limitations.

[0159] The positional relationship between the first ranging device 303 and the first surgical equipment, and the positional relationship between the marker 313 and the second surgical equipment are obtained. Optionally, the marker 313 and the first ranging device 303 are pre-set on the mounting surface, so the installation parameters of the marker 313 and the first ranging device 303 are known, that is, the installation positions of the marker 313 and the first ranging device 303 are known. For example, the installation parameters include known coordinates in the base coordinate system, or known relative positions or relative distances to the origin of the base coordinate system or other preset points. Similarly, the marker 313 can be set on the support part of the surgical equipment, such as the base or support column, or on the support part of the operating table, such as the base or column. For clearer identification, the marker 313 should preferably not be obstructed. For example, if a sterile surgical drape needs to be laid during surgery, the sterile surgical drape should preferably not obstruct the marker 313. Similarly, the first ranging device 303 should preferably not be obstructed. The positional relationship between the first ranging device 303 and the first surgical equipment, and the positional relationship between the marker 313 and the second surgical equipment can be known through the installation parameters. Optionally, for ease of measurement, the first ranging device 303 and the marker 313 are positioned at the same horizontal height; however, this embodiment may also allow them to be at different horizontal heights. The installation parameters can be stored in the surgical robot system for later use, or they can be stored in other locations, such as a server or the cloud.

[0160] Based on the distance, included angle, the positional relationship between the first ranging device 303 and the first surgical equipment, and the positional relationship between the marker 313 and the second surgical equipment, the positional registration relationship between the surgical robot and the operating table is determined. Optionally, by constructing a triangle, the positional relationship between the origin of the surgical robot's base coordinate system and the origin of the operating table's base coordinate system is determined using the side-angle theorem of triangles.

[0161] For example, such as Figure 5 As shown in the registration diagram, the first ranging device 303 moves and scans under the drive of the driving device. When the mark 313 is identified, the distance measurement value corresponding to the first ranging device 303 is obtained and denoted as d. d can be used to characterize the distance between the first ranging device 303 and the mark 313. The angle measurement value of the corresponding driving device is obtained and denoted as θ1. θ1 is the angle between the first ranging device 303 and the first surgical device and can be used to characterize the relative posture between the mark 313 and the first ranging device 303.

[0162] The positional relationship between the first ranging device 303 and the first surgical device is obtained, for example, the first installation parameters of the first ranging device 303 are obtained. When the first ranging device 303 is set, its setting position is determined, so the corresponding installation parameters are known. For example, the coordinates of the first ranging device 303 in the first coordinate system are known.

[0163] Obtain the positional relationship between the identifier 313 and the second surgical device, such as obtaining the identifier 313 installation parameters, where the number of identifiers 313 is greater than or equal to 1.

[0164] Based on the distance d, the included angle θ1, the positional relationship between the first ranging device 303 and the first surgical equipment, and the positional relationship between the marker 313 and the second surgical equipment, the positional translation between the first coordinate system and the second coordinate system is determined. The positional translation can be performed using the coordinates of the origin of the second coordinate system in the first coordinate system, or the coordinates of the origin of the first coordinate system in the second coordinate system.

[0165] Based on position translation, the position registration relationship between the first coordinate system and the second coordinate system is determined. Specifically, the coordinate system transformation principle in the prior art can be adopted, and this application does not make specific limitations in this regard.

[0166] In this embodiment of the application, for ease of calculation, the first ranging device 303 can select point A, the marker 313 can select point B, and a surface parallel to the horizontal ground can be selected for analysis, specifically as follows: Figure 5 As shown, point B is typically located at the intersection of the marker and the ranging signal. The coordinates of point B in the first coordinate system O1-X1Y1Z1 are (x...). rb1 y rb1 This can be represented as:

[0167]

[0168] Among them, (x ra1 y ra1 Let A be the coordinates of point A in the first coordinate system.

[0169] The origin O2 of the second coordinate system (O2-X2Y2Z2) has coordinates (x, y, z) in the first coordinate system. ro1 y ro1 This can be represented as:

[0170]

[0171] Alternatively, the origin O1 of the second coordinate system is located at the coordinates (x, y) of the first coordinate system. r01 y ro1 It can also be expressed as:

[0172]

[0173] Among them, (x b1 (0) are the coordinates of point B in the second coordinate system.

[0174] Optionally, the coordinates of the origin O1 of the first coordinate system in the second coordinate system can be calculated to determine the translation between the first and second coordinate systems, as follows: Figure 5Specifically, it includes:

[0175] The coordinates of point A in the second coordinate system are (x′) ra1 y′ ra1 This can be represented as:

[0176]

[0177] Among them, (x b1 y b1 Let be the coordinates of point B in the second coordinate system.

[0178] The origin O1 of the first coordinate system has coordinates (x, y) in the second coordinate system. r01 ′,y ro1 ′) can be represented as:

[0179]

[0180] Among them, (x a1 (0) are the coordinates of point A in the first coordinate system.

[0181] Furthermore, such as Figure 6 As shown, it may also include a first surgical device configured with another first ranging device 303 to obtain the positional registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, including:

[0182] When the two first ranging devices rotate under the drive of the drive device 304 and scan the mark 313, the distance between the two first ranging devices and the mark 313 is obtained, and the angle between the two first ranging devices and the first surgical device is obtained.

[0183] The positional relationship between the first ranging device and the first surgical equipment, the positional relationship between the identifier 313 and the second surgical equipment, and the positional relationship between the two first ranging devices are obtained.

[0184] Based on the distance, included angle, positional relationship between the first ranging device and the first surgical equipment, positional relationship between marker 313 and the second surgical equipment, and positional relationship between the two first ranging devices, the positional registration relationship between the surgical robot and the operating table is determined.

[0185] For example, such as Figure 7 As shown in the registration diagram, for ease of description, a point D can be selected in one of the first ranging devices 303, another point E can be selected in the first ranging device 303, and a point F can be selected in the marker 313. Typically, point F is located at the intersection of the marker and the ranging signal. A surface parallel to the horizontal ground is selected for analysis.

[0186] The coordinates of point F in the first coordinate system (x) rF yrF This can be represented as:

[0187]

[0188] The coordinates of the two first ranging devices in the first coordinate system are (x... r1 y r1 ) and (x r2 y r2 ), d and e are the distance measurements of the two first ranging devices when they scan the mark, and θ1 and θ2 are the angle measurements of the two first ranging devices when they scan the mark.

[0189] The origin O2 of the second coordinate system (O2-X2Y2Z2) has coordinates (x, y, z) in the first coordinate system. ro1 y ro1 This can be represented as:

[0190]

[0191] The coordinates of point F in the second coordinate system are represented as: (x F1 ,0).

[0192] In the above example, points B and F are set on the coordinate axes of the second coordinate system; optionally, they can be set at any position. The formulas in this application embodiment are merely examples. Transforming the formulas, such as adding coefficients, can still be used to determine configuration relationships. This application embodiment will not provide examples of all possible combinations of transformations.

[0193] In this embodiment, the first coordinate system can be either the base coordinate system of the surgical robot or the base coordinate system of the operating table, and the second coordinate system can be either the base coordinate system of the surgical robot or the base coordinate system of the operating table. This embodiment determines the relative position translation between the two coordinate systems by determining the coordinates of the origin of one coordinate system in the other coordinate system.

[0194] Optionally, when the first ranging device 303 is set in the second coordinate system and the identifier 313 is set in the first coordinate system, the principle of determining the position translation between the first coordinate system and the second coordinate system is the same as described above, except that the constructed triangle relationship is slightly different, which will not be elaborated here.

[0195] In this embodiment, the first ranging device 303 identifies the marker 313, thereby obtaining the distance between the first ranging device 303 and the marker 313, and using this distance to determine the position translation between the first coordinate system and the second coordinate system, thereby realizing the position registration relationship between the first coordinate system and the second coordinate system to achieve coordinate transformation and positioning between the surgical robot and the operating table.

[0196] Furthermore, the number of identifiers 313 can be greater than or equal to 1.

[0197] If the number of markers 313 is equal to 1, the first ranging device 303 is driven to move by the driving device 304. When the first ranging device 303 recognizes the marker 313, it obtains the angle measurement value corresponding to the driving device 304, and uses the angle measurement value as the angle between the first ranging device 303 and the first surgical device to determine the relative posture of the first ranging device 303 and the marker 313, for example, the angle measurement value as the relative posture; and obtains the distance measurement value corresponding to the first ranging device 303, and determines the distance between the first ranging device 303 and the marker 313 based on the distance measurement value.

[0198] If the number of markers 313 is greater than 1, the first ranging device 303 is driven to move by the driving device 304 to identify at least one of the markers 313. The relative attitude and relative position of the first ranging device 303 and the markers 313 are determined by the angle measurement value corresponding to the driving device 304 and the distance measurement value corresponding to the first ranging device 303 when a marker 313 is identified. For example, if 10 markers are set, the position translation can be determined by selecting the angle measurement value and distance measurement value corresponding to identifying all 10 markers 313, or by selecting the angle measurement value and distance measurement value corresponding to identifying some of the markers 313.

[0199] When the number of markers 313 is greater than one, it is necessary to determine the installation parameters of the identified markers 313. For example, the correspondence between installation parameters, angle measurements, and distance measurements can be determined by identifying each marker individually. Alternatively, the measurement values ​​corresponding to some identified markers 313 can be ignored, and the correspondence between installation parameters, angle measurements, and distance measurements can be determined by combining the rules of ignoring these values. For example, with five markers, if we choose to ignore the measurement values ​​corresponding to the 2nd and 4th markers, then when the 1st, 3rd, and 5th markers are identified, the corresponding measurement values ​​are recorded, and the installation parameters of the 1st, 3rd, and 5th markers are obtained. This allows us to further determine the positional translation between the first and second coordinate systems based on the aforementioned formula. Furthermore, the correspondence with the markers can be determined based on the magnitude of the angle measurements. For example, the angle measurement value corresponding to the 1st marker > the angle measurement value corresponding to the 3rd marker > the angle measurement value corresponding to the 5th marker.

[0200] Furthermore, after identifying at least one identifier 313, the positional translation between the first and second coordinate systems corresponding to identifier 313 can be determined based on the installation parameters, angle measurements, and distance measurements corresponding to identifier 313. To further improve the accuracy of registration, some data, such as obviously unreasonable data, can be discarded, and the positional translation between the first and second coordinate systems can be calculated, for example, by using an average weighted method.

[0201] By setting multiple identifiers, the probability and efficiency of identifier recognition can be improved, thereby improving the accuracy of registration.

[0202] Furthermore, such as Figure 8 As shown, the first surgical device is also equipped with a second ranging device 305 for ranging. Like the first ranging device 303, the second ranging device 305 can be installed on the first surgical device; installation instructions will not be repeated here. Obtaining the attitude registration relationship between the surgical robot and the operating table includes:

[0203] The system acquires the first distance between the surgical robot and the operating table measured by the first ranging device 303, and the angle between the first ranging device 303 and the first surgical device measured by the drive device 304. Optionally, the first ranging device 303 rotates under the drive of the drive device 304. Similarly, the angle between the first ranging device 303 and the first surgical device can be selected as the angle between the ranging signal 308 emitted by the first ranging device 303 and the first surgical device, such as the direction of the ranging signal 308 emitted by the first ranging device 303 and the mounting surface of the first ranging device 303, the perpendicular plane of the mounting surface, or the horizontal coordinate axis direction of the base coordinate system of the first surgical device. Optionally, during the rotation process, the distance measurement value measured by the first ranging device 303 and the angle measurement value measured by the drive device 304 can be recorded at any time, and the distance measurement value can be used as the first distance between the surgical robot and the operating table, and the angle measurement value can be used as the angle between the first ranging device 303 and the first surgical device.

[0204] The second distance between the surgical robot and the operating table is obtained by the second ranging device 305.

[0205] Obtain the angle between the second ranging device 305 and the first surgical device.

[0206] The second ranging device 305 can also record its installation angle during installation. For example, the angle between the ranging signal 308 emitted by the second ranging device 305 and the first surgical device can be used as its installation angle. The recorded installation angle can be stored in the surgical robot system for later use, or it can be stored in other locations, such as a server or the cloud.

[0207] Alternatively, a drive device 304 can be provided for the second ranging device 305, with the same principle as the first ranging device 303 equipped with a drive device 304. Therefore, the distance measurement value measured by the second ranging device 305 and the angle measurement value measured by the drive device 304 can be obtained in real time. The distance measurement value is used as the second distance between the surgical robot and the operating table measured by the second ranging device 305, and the angle measurement value is used as the angle between the second ranging device 305 and the first surgical equipment.

[0208] The positional relationship between the first ranging device 303 and the second ranging device 305 is obtained. Similarly, this positional relationship can be determined based on the installation parameters.

[0209] Based on the first distance, the second distance, the angle between the first ranging device 303 and the first surgical equipment, the angle between the second ranging device 305 and the first surgical equipment, and the positional relationship between the first ranging device 303 and the second ranging device 305, the attitude registration relationship between the base coordinate system of the surgical robot and the base coordinate system of the operating table is determined.

[0210] This embodiment of the application can flexibly obtain the attitude registration relationship between the base coordinate system of the surgical robot and the base coordinate system of the operating table by using the distance measurement values ​​measured by the first ranging device 303 and the second ranging device 305, and the angle between the first ranging device 303, the second ranging device 305 and the first surgical device. Optionally, in order to reduce the acquisition of the angle between the first ranging device 303, the second ranging device 305 and the first surgical device, the ranging signal 308 emitted by the second ranging device 305 can be made substantially perpendicular to the first surgical device when the second ranging device 305 is installed, and the drive device 304 is not required. The distance measurement value measured by the second ranging device 305 is obtained and used as the second distance between the surgical robot and the operating table; and when the ranging signal 308 of the first ranging device 303 is substantially perpendicular to the first surgical device, the distance measurement value measured by the first ranging device 303 is obtained and used as the first distance between the surgical robot and the operating table. "Basically perpendicular to the first surgical device" can be understood as basically perpendicular to the mounting surface or the horizontal coordinate axis direction of the base coordinate system of the first surgical device.

[0211] Obtain the positional relationship between the first ranging device 303 and the second ranging device 305.

[0212] Based on the first distance, the second distance, and the positional relationship between the first ranging device 303 and the second ranging device 305, the attitude registration relationship between the base coordinate system of the surgical robot and the base coordinate system of the operating table is determined.

[0213] For example, taking the first ranging device 303 installed on the surgical robot and the identifier installed on the operating table as an example, Figure 5 As shown:

[0214] The first ranging device 303 moves and scans under the drive of the driving device 304. When the ranging signal emitted by the first ranging device 303 is perpendicular to the surgical robot, the distance measurement value corresponding to the first ranging device 303 is obtained and recorded as the first distance e between the surgical robot and the operating table. Figure 5 A registration diagram of a surgical robot system provided in one embodiment of the present invention is shown.

[0215] Obtain the distance measurement value corresponding to the second ranging device 305, and record it as the second distance f between the surgical robot and the operating table.

[0216] Obtain the positional relationship h1 between the first ranging device 303 and the second ranging device 305, where h1 represents the distance between the first ranging device 303 and the second ranging device 305.

[0217] Furthermore, based on the first distance e and the second distance f, the relative posture θ between the surgical robot and the operating table is determined. z .

[0218]

[0219] Based on relative attitude θ z The registration relationship between the base coordinate system of the surgical robot and the base coordinate system of the operating table can be determined by adopting the coordinate system transformation principle in the prior art, and this application does not make specific limitations on this.

[0220] For example, taking the first ranging device 303 installed on the operating table and the identifier installed on the surgical robot as an example:

[0221] Similarly, when the ranging signal 308 emitted by the first ranging device 303 is perpendicular to the operating table, the distance measurement value corresponding to the first ranging device 303 is obtained and recorded as the first distance e′ between the surgical robot and the operating table. Figure 9 A registration diagram is shown in one embodiment of the present invention.

[0222] Obtain the distance measurement value corresponding to the second ranging device 305, and denot it as the second distance f′ between the surgical robot and the operating table.

[0223] Obtain the positional relationship h1′ between the first ranging device 303 and the second ranging device 305, where h1′ represents the distance between the first ranging device 303 and the second ranging device 305.

[0224]

[0225] In this embodiment, the first ranging device 303 is installed on the operating table to determine the relative position between the surgical robot and the operating table; the first ranging device 303 and the second ranging device 305 are installed on the operating table to determine the relative posture between the surgical robot and the operating table.

[0226] In this embodiment, when the ranging signal 308 emitted by the first ranging device and the second ranging device is substantially perpendicular to the first surgical device, the corresponding distance measurement value is obtained. This eliminates the need to obtain the angle between the first ranging device and the second ranging device and the first surgical device, thus quickly and easily determining the attitude registration relationship between the base coordinate system of the surgical robot and the base coordinate system of the operating table.

[0227] Optional, such as Figure 8 and Figure 5 As shown, the first surgical device is equipped with at least two second ranging devices 305 for ranging, which acquire the attitude registration relationship between the base coordinate system of the surgical robot and the base coordinate system of the operating table, including:

[0228] The second distance between the surgical robot and the operating table is obtained by at least two second ranging devices 305, and the second ranging devices 305 are substantially perpendicular to the first surgical equipment.

[0229] Obtain the positional relationship between the two second ranging devices 305.

[0230] Based on the positional relationship between the two second distances and the two second ranging devices 305, the posture registration relationship between the surgical robot and the operating table is determined.

[0231] For example, the second distance between the surgical robot and the operating table, measured by at least two second ranging devices 305, is obtained and denoted as f and g, respectively.

[0232] Obtain the positional relationship between the two second ranging devices 305, for example, h2 represents the distance between the two second ranging devices 305.

[0233] Furthermore, based on f and g, the relative pose θ between the surgical robot and the operating table is determined. z .

[0234]

[0235] Based on relative attitude θ z The registration relationship between the base coordinate system of the surgical robot and the base coordinate system of the operating table can be determined by adopting the coordinate system transformation principle in the prior art, and this application does not make specific limitations on this.

[0236] For example, such as Figure 9As shown, taking the second ranging device 305 installed on the operating table and the marker installed on the surgical robot as an example:

[0237] Obtain the second distance between the surgical robot and the operating table measured by at least two second ranging devices 305, denoted as f′ and g′ respectively.

[0238] Obtain the positional relationship between the two second ranging devices 305, for example, h2′ represents the distance between the two second ranging devices 305.

[0239] Furthermore, based on f′ and g′, the relative pose θ between the surgical robot and the operating table is determined. z .

[0240]

[0241] In another embodiment of this application, the surgical robot is configured with a linkage mode and a master-slave operation mode. In the linkage mode, the surgical robot can control the drive arm to drive the puncture device to move, so as to link with the movement of the operating table and thus maintain the relative posture of the operating table unchanged; in the master-slave operation mode, the surgical robot controls the drive arm to drive the puncture device to move in order to complete the surgery.

[0242] Optionally, to ensure safety, the surgical robot enters the linkage mode upon receiving a command to do so, such as... Figure 10 A schematic diagram of the linkage between the surgical robot and the operating table provided in one embodiment of the present invention is shown. The linkage mode command can be initiated by, for example, a request to enter the linkage mode input by medical personnel through an interactive device such as a remote control, voice recognition, mouse, or keyboard. Since the operating table and the surgical robot can communicate, this request can be sent to at least one of the operating table and the surgical robot. The linkage mode command can also be automatically triggered when a first preset condition is met, such as detecting movement of the operating table. In the linkage mode, the base 201 of the surgical robot and the base 228 of the operating table are in a motion-locked state, ensuring that minimal movement occurs.

[0243] Optionally, the linkage process 600 includes preoperative preparation 601 that needs to be completed before entering the linkage mode, such as... Figure 11The diagram shows the preoperative preparation flowchart for the surgical system. Before the surgical robot and operating table perform joint movements, it is necessary to check and confirm that the equipment communication is in a normal state 701 and that there are no safety hazards. The system automatically performs the status monitoring function of the current surgical system 702. To prevent the organism from slipping during the movement of the operating table, the organism should be securely bound to the operating table surface 703. Then, according to the surgical requirements, the armrest 204 is pushed to move the drive arm horizontally and move it close to the operating table to the designated area. The base 201 of the drive arm and the base 228 of the operating table are locked. At this locked position, it should be checked and ensured that the pose positioning system between the surgical robot and the operating table is in normal working condition. If it exceeds the detection range of the distance measuring device in the pose positioning system, the distance between the surgical robot and the operating table needs to be appropriately adjusted to reduce the distance. In addition, medical staff can be allowed to perform external orientation and positioning operations above the organism by adjusting the robotic arm 250, the adjusting arm 260 and the manipulating arm 270 according to the surgical requirements 704. After completing the imaging equipment placement process 705, the surgical area is located in the abdominal cavity of the organism, and the opening process 706 is completed in the organism's body wall. The puncture device is then inserted into the abdominal cavity wall, and docking with the manipulator arm in the drive arm is completed. Medical instruments and endoscopes are then inserted into the organism via the puncture device to complete the preoperative precise positioning action 707. During positioning, all joints of the mechanism should be in their non-limited movement range. Ideally, the joints should be in the center of their respective ranges of motion to avoid the undesirable phenomenon of forced system termination due to joints reaching their limit positions before the linkage command is completed. If processes 701-708 are completed without any malfunctions, the surgeon's main control panel can display that the preoperative preparation between the surgical robot and the operating table has been successfully completed 708, allowing the surgical procedure to proceed.

[0244] After completing preoperative preparation 601, in processes 602 and 603, for example, medical staff execute the linkage command of the surgical system through a handheld button-type operating table controller. The controller sends a start command request to the surgical robot via wired or wireless means (such as infrared transmission) and waits for the system to make an accurate instruction judgment based on the internally programmed instructions. If all the permissible execution conditions of the linkage command meet the second preset condition, the system returns a "Yes" or "Yes" message, and it is allowed to continue into linkage mode 604. If one or more of the permissible execution conditions of the linkage command fail to meet the second preset condition, the system returns a "No" or "No" message, and the system iterates back to the previous process 602 and is again in the state of sending linkage requests until the system fault is resolved and a "Yes" or "Yes" message is returned before continuing to the next process 604. If processes 602 and 603 are in an iterative loop for a long time and exceed the system's internally set time, they will be forced to terminate and exit linkage mode until the fault is completely resolved and the linkage command is restarted before it is allowed to continue.

[0245] Optionally, in response to the command to enter the linkage mode, it is determined whether the surgical robot and / or operating table meet the first preset conditions;

[0246] If the first preset condition is met, the system will enter the linkage mode; whereby,

[0247] The first preset condition is met, including at least one of the following:

[0248] Surgical robots dock with living organisms;

[0249] The base of the surgical robot is in a motion-locked state with the base of the operating table;

[0250] The main control panel of the surgical robot is in a state where surgical operations are permitted.

[0251] The communication connection between the surgical robot and the operating table is normal;

[0252] Adjust the range of motion of each joint in the arm to the preset range of motion.

[0253] The process for determining whether the first preset condition is met can be described as follows:

[0254] Regarding whether the communication connection between the surgical robot and the operating table is normal. After establishing the communication connection between the surgical robot and the operating table, a communication detection program on the operating table or surgical robot can be allowed to determine whether the communication connection between the surgical robot and the operating table is normal based on the detection results, so as to monitor and transmit the working status and joint movement information of the surgical robot and the operating table;

[0255] Regarding the docking of the surgical robot with the organism: It is necessary to check the relative fixation devices between the organism and the operating table surface to ensure the organism is stably secured on the operating table. This ensures that the organism will not slide significantly relative to the operating table surface after changes in position, thus preventing obstruction of the interaction between the surgical robot and the operating table. When docking the surgical robot with the organism, medical personnel can adjust the robotic arm 250, adjusting arm 260, and manipulating arm 270 to perform the desired orientation and positioning according to the surgical procedure requirements. This allows the surgical end effector and imaging equipment installed at the distal end of the surgical robot's drive arm to be inserted into the organism. After completing the operation, confirmation of the docking information should be entered on the operating interface on the operating table or surgical robot.

[0256] Please refer to the following: Whether the base of the surgical robot and the base of the operating table are in a motion-locked state. Figure 2 The surgical robot's motion chassis 201 (i.e., base) and the operating table's wheeled chassis 227 (i.e., base) are in a motion-locked state to ensure that there is basically no movement during the operation and linkage process. Whether the surgical robot's base and the operating table's base are in a motion-locked state can be detected and determined by the locking sensor on the base, or after the medical staff performs the operation, the locking information can be confirmed by inputting the locking information on the operating interface on the operating table or surgical robot.

[0257] Whether the main operating table of the surgical robot is in a state where it is permissible to enter into surgical operations can be determined by detecting whether the orientation between the operating part 120 of the surgical robot and the medical device installed at the distal end of the drive arm is aligned, as well as other conditions that need to be met for operation. Based on the detection results, it can be determined whether the main operating table of the surgical robot is permissible to enter into surgical operations.

[0258] Regarding whether the range of motion of each joint in the drive arm is within the preset range of motion: During the linkage process, the joints involved should be in the non-limiting region of their respective range of motion. Ideally, the joints should be in the center of their range of motion to avoid the undesirable phenomenon of forced termination of movement before completion due to the joints reaching their limit positions. Therefore, the range of motion of each joint needs to be determined before the linkage begins, for example, by detecting the current position and angle of the joint to determine whether the range of motion is within the preset range of motion. During the positioning process, all joints of the drive arm should be in the non-limiting region of motion, with the ideal preoperative state being that the joints are in the center of their respective range of motion.

[0259] After completing preoperative equipment preparation, medical staff can trigger the command to enter the linkage mode. Linkage mode refers to the surgical robot controlling the joints in the drive arm to drive the puncture device based on the movement of the operating table, ensuring that the position and orientation of the puncture device relative to the operating table remains constant. After triggering the command to enter linkage mode, the surgical robot judges the second preset condition according to its internally programmed instructions. If the condition is met, entry into linkage mode is allowed; otherwise, the linkage request can be sent again until all the second preset conditions are met. If the time spent in the iterative process of judging the second preset condition and sending the linkage request exceeds the system's internal time limit, the process of requesting entry into linkage mode will be forcibly terminated and exited.

[0260] Upon entering the linkage mode, the first step is to determine the registration relationship between the surgical robot's base coordinate system and the operating table's base coordinate system. This registration relationship can be calculated in real time or pre-calculated and directly retrieved from the stored system. If the registration relationship is successfully determined, medical staff can be notified promptly, for example, through readable media (such as color-changing indicator lights) and a registration success signal will be displayed. If the registration operation fails, a brightly colored signal (such as red) will be displayed through readable media to indicate the failure.

[0261] Optionally, if real-time calculation of the registration relationship is required, in processes 604 and 605, after the system enters the linkage mode, medical staff can execute the registration process 605 in the surgical system via the buttons on the operating table controller. During the registration operation, the transmission and monitoring of the joint motion information of the operating table can be performed via wired or wireless means (such as infrared transmission). If the registration is successful, a successful registration signal can be displayed through a readable medium (such as a color-changing indicator light) so that medical staff can be informed in time and thus prompt them to continue to execute the next instruction. If the registration operation is unsuccessful, the next linkage command cannot be initiated, and a brightly colored signal (such as red) will be displayed on a readable medium to indicate the failure. Only after the system fault is completely resolved and the registration operation is successfully executed again can the next process be allowed.

[0262] Optionally, in linkage mode, if the organism moves relative to the operating table surface, re-registration should be performed; in addition, if the trocar telecentric fixed point 221 moves relative to the organism or the medical device changes position relative to the surgical site, it is best to re-register for safety.

[0263] Before the operating table reaches the target position, the movement of the operating table only executes the movement commands operated by medical staff via buttons in the movement command area 803 of the operating table controller 600. If the same button is pressed multiple times consecutively while a button command is being executed, the system will only execute the first button command and automatically block repeated action requests. Furthermore, if other movement command function keys are pressed while a button command is being executed, the system will continue executing the unfinished movement command and automatically block other button requests during this process. After the operating table reaches the target position, the executing movement command automatically ends and the system enters a state of waiting for the next operation command. If a new movement command needs to be executed, the button to be executed must be pressed again to send another movement request to the system. After the linkage ends, the system needs to press the exit function key to exit the linkage mode. After exiting the linkage mode, the system automatically switches back to the normal master-slave operation mode and enters a state of waiting for the next operation command.

[0264] During processes 609 and 610, once the operating table reaches the target position, the currently executed linkage command automatically ends, and the system enters a state awaiting the next operation command. If a new linkage motion command needs to be executed, simply press the operating table controller button again to send another linkage motion request to the system. After the linkage motion ends, optionally, the system can exit the linkage mode by pressing the exit function key on the operating table controller. After exiting the linkage mode, the system can switch to the regular master-slave operation mode and enter a state awaiting the next operation command from the system, thus completing the entire linkage motion process.

[0265] In the linkage mode, the motion information of the joints of the surgical robot and the operating table is monitored, recorded and stored in real time, and the surgical robot is monitored and judged in real time to determine whether it meets the second preset condition.

[0266] If the second preset condition is not met, the linkage mode will exit; where,

[0267] The second preset condition is met, including at least one of the following:

[0268] The position of the puncture device relative to the opening of the organism is in a preset state;

[0269] The position of the medical device mounted at the distal end of the drive arm relative to the surgical site is in a preset state;

[0270] The range of motion of each joint in the drive arm is within the preset range of motion.

[0271] During the linkage process, whether the position of the puncture device and the body opening is in a preset state can be identified by the image acquired by the imaging device installed at the far end of the drive arm. If the surgical area is partially or completely disappeared in the image, it can be determined that the puncture device and the body opening have a large relative movement and are not in the preset state.

[0272] Whether the position of the medical device installed at the distal end of the drive arm and the surgical site is in a preset state can be identified by the image acquired by the imaging device installed at the distal end of the drive arm. If the change in the relative distance or angle between the medical device and the surgical site exceeds a certain threshold, it can be determined that there is a large relative movement between the position of the medical device and the surgical site, and it is not in a preset state.

[0273] Furthermore, during the linkage process, the involved joints should be within the non-limiting areas of their respective ranges of motion. Ideally, the joints should be in the center of their ranges of motion to avoid the undesirable phenomenon of forced termination of movement before completion due to the joints reaching their limit positions. Therefore, the range of motion of the joints can be determined by detecting their current position and angle. Further, during the linkage process, images of the medical device and the surgical site are displayed on the display device. These images can be used for manual judgment or automatic judgment through image processing. The image processing technology is not specifically limited in this application. The display device can be located on the main operating table or in other easily observable positions. Based on manual or automatic judgment, a stop-movement command can be sent to the operating table to avoid potential risks. Optionally, during the linkage process, images of the medical device and the surgical site are displayed on the display device. These images can be used for manual judgment or automatic judgment through image processing. The image processing technology is not specifically limited in this application. The display device can be located on the main operating table or in other easily observable positions.

[0274] The linkage process may also include: acquiring images collected by imaging equipment during the motion control of the drive arm based on the table surface of the operating table in a preset degree of freedom;

[0275] In response to the recognition that the target area in the image meets a third preset condition, a control command is sent to the operating table. The control command includes instructions for controlling at least one of the following: delay adjustment, stop adjustment, and deceleration adjustment of the operating table; wherein,

[0276] The third preset condition must be met, including at least one of the following:

[0277] Identify the target surgical site or a marker associated with the target surgical site within the target area;

[0278] The target surgical site is in a preset position within the target area.

[0279] Specifically, before linkage, the target area of ​​the image acquired by the imaging device can be marked, such as the middle area of ​​the image or any area that is desired to be identified. In addition, before linkage, feature areas can be marked in the real biological anatomical structure, for example, by means of fluorescence, and then the real mark can be identified during the linkage process.

[0280] When the target area in the image is identified as meeting the conditions, the operating table can be controlled to delay, stop, or decelerate, thus facilitating the doctor's observation of whether the desired surgical site has reached the desired position or posture. For delay and deceleration adjustments, the doctor can trigger a stop adjustment command when confirming that the desired surgical site meets the conditions, or the operating table can resume its original linkage if no other command is received after a preset time.

[0281] In some embodiments, one of the third preset conditions, "identifying the target surgical site or a marker associated with the target surgical site in the target area," may include detecting that the proportion of the target area falling into the currently acquired image during the linkage process reaches a preset value. For example, more than 70% of the target area falls into the currently acquired image; or the target area falls completely into the currently acquired image. It may also include detecting that the number and / or proportion of feature points in the target area falling into the currently acquired image during the linkage process reaches a preset value. For example, the target area includes 10 feature points, of which 7 feature points fall into the currently acquired image; or all 10 feature points fall into the currently acquired image.

[0282] In some embodiments, one of the third preset conditions, "the target surgical site is in a preset posture within the target area," means that the target surgical site is identified within the target area of ​​the image, and the posture of the target surgical site within the target area meets the set recognition conditions, such as tilting to the left, tilting to the right, or opening, thereby providing a better surgical field of view. When the operating table moves, the target surgical site changes its posture relative to the imaging device according to the movement of the operating table, which is reflected in the image of the imaging device as a change in posture. By recognizing the image, it can be determined whether the target surgical site and its current posture meet the set recognition conditions. When the target surgical site is identified within the target area and the posture of the target surgical site in the image meets the set recognition conditions, it is considered that the target surgical site is in a preset posture within the target area.

[0283] Figure 12It is a schematic diagram of an operating panel of an operating table shown according to an embodiment of the present application. The operating panel 600 includes, but is not limited to, display areas and operating areas such as a screen display area 801, a mode switching function area 802, and a motion instruction area 803. The screen display area 801 further includes, but is not limited to, the current state of the operating table, the movement range of each joint, the current motion instruction executed by the tabletop, data connection, and registration success signal, etc., so as to allow medical staff to view and master the current various motion states of the operating table at any time through the screen display information, provide accurate current information for the next key operation, and effectively avoid operation errors. The mode switching function area 802 further includes, but is not limited to, a registration button, a stop button, an exit button, a lock and unlock button. The registration button is used to perform the registration between the surgical robot and the operating table. The stop button is used to interrupt the control program midway to stop the linkage action between the joints and maintain the motion state at the stop moment until the next operation command starts to be executed. The exit button is used to switch back to the conventional master-slave operation mode after the linkage ends. The lock and unlock button is to stop and release the movement of the surgical robot and the wheeled chassis of the operating table before and after the operation. The motion instruction area 803 further includes, but is not limited to, the buttons shown on the operating panel in the figure. Each button can define the motion instructions of each degree of freedom with the base coordinate system of the operating table as the motion reference coordinate system, or other coordinate systems can also be selected, such as the initial coordinate system of the operating tabletop mentioned above. The number of buttons is determined according to the number of degrees of freedom of the movement allowed by the operating table in the linkage mode.

[0284] The embodiment of the present application provides an operating panel of an operating table, thereby providing a convenient way for medical staff to perform linkage control and improving the human-computer interaction experience.

[0285] The embodiment of the present application sets a linkage mode to ensure that the surgical robot can be controlled to enter or exit the linkage under appropriate conditions, so that the movement of the driving arm driving the puncture device keeps the relative pose with the operating table unchanged, while realizing the flexible adjustment of the biological body position and ensuring life safety.

[0286] In another embodiment of the present application, the surgical robot includes a main operating console and a slave operating device. The main operating console includes a first operating part and a second operating part. In the linkage mode, in response to the change of the master-slave mapping between the operating part 120 and the medical device, the attitude of the operating part 120 is controlled to be aligned with the medical device with the desired mapping, so that when switching back to the master-slave operation mode, there is no need to perform attitude alignment again, thereby improving the operation experience.

[0287] Medical devices include imaging devices or surgical end effectors. To avoid confusion, typically a single operating unit 120 controls one surgical end effector, and two operating units 120 control the imaging device. If the medical device to be controlled changes before entering the linkage mode and after exiting the linkage mode, and if the postures of the two medical devices are different, posture alignment is required after switching. In the embodiments of this application, the medical device that the operating unit 120 is expected to map can also be referred to as the medical device to be controlled or the medical device to be controlled.

[0288] In the linkage mode of this application embodiment, attitude alignment is performed simultaneously with linkage, specifically including:

[0289] For example, if the first operating unit needs to control the first medical device after exiting the linkage mode, and previously controlled the second medical device, the master-slave mapping of the operating unit 120 needs to be changed from the second medical device to the first medical device, i.e., it is expected to map to the first medical device, all under one-handed control. This includes:

[0290] Step 1: Determine the target joint variables of the joints in the operating unit 120.

[0291] Step 2: Drive the joint movement in the operating unit 120 according to the target joint variable in the joint, so that the posture of the operating unit 120 is consistent with the posture of the medical device to be mapped.

[0292] Optionally, the first step can be implemented in the following steps:

[0293] The first pose of the medical device that the operation unit 120 expects to map is obtained, wherein the first pose can be selected as a coordinate system relative to the imaging device or other coordinate systems that can be mapped.

[0294] The second orientation of the operation unit 120 is determined based on the registration relationship between the first orientation and the coordinate system. The second orientation of the operation unit 120 can freely select the coordinate system, such as the coordinate system of the display device, the base coordinate system of the main control panel, or other coordinate systems that can be mapped. For example, if the first orientation is selected as the coordinate system of the image device, and the second orientation is selected as the coordinate system of the display device, then the second orientation of the operation unit 120 in the display device coordinate system is determined based on the registration relationship between the first orientation, the coordinate system of the image device, and the coordinate system of the display device. Similarly, if the first orientation is selected as the base coordinate system of the first end effector, and the second orientation is selected as the base coordinate system of the main control panel, then the second orientation of the operation unit 120 in the display device coordinate system is determined based on the registration relationship between the first orientation, the base coordinate system of the first end effector, and the base coordinate system of the main control panel. The relative coordinate system can be flexibly selected as needed, and this application does not impose any limitations on this.

[0295] The target joint variables of the joints in the operation unit 120 are determined based on the inverse kinematics of the second posture.

[0296] For example, the operating unit 120 includes multiple joints. In this embodiment, the operating unit 120 is referred to as the first operating unit to facilitate differentiation when the operating arm includes more than one operating unit 120. The first operating unit includes a first posture joint, which can be a wrist joint or a rotation joint, or both. The first posture is selected as the base coordinate system of the first end effector, and the second posture is selected as the base coordinate system of the main operating table, such as... Figure 13 As shown, the first step includes:

[0297] Step S1301: Obtain the first slave posture information of the first end effector. In this embodiment, the first end effector corresponds to the medical device that the operation unit 120 is expected to map, specifically including:

[0298] First slave attitude information is obtained based on a specified point in the first end effector. Optionally, the specified point is located in the distal region of the first end effector, for example, at the head of the first end effector. In other embodiments, the specified point may also be located in other regions of the first end effector, for example, in the middle region of the first end effector. There may be one or more specified points. The first slave attitude information can be obtained in real time according to preset rules, or it can be obtained only once when stationary. The first slave attitude information may be the attitude information of the first end effector in the base coordinate system of the first end effector, specifically including:

[0299] Obtain the first slave joint variables corresponding to the first end effector, such as position information and / or rotation information;

[0300] The first slave posture information is determined based on the first slave joint variables.

[0301] Optionally, the posture information corresponding to the first end effector can be determined by first follower joint variables, such as actual position and angle information. Specifically, by acquiring the current joint variables of the robotic arm follower joint and the first medical device follower joint in the operating device, such as position and / or rotation information, the current joint variables of the robotic arm follower joint and the first medical device follower joint are solved for the first follower posture information of the first end effector. Similarly, the first follower joint variables can be acquired by sensors, and the first follower posture information of the first end effector can be obtained based on the first follower joint variables. For example, the processor can obtain the first follower posture information of the first end effector based on the first follower joint variables.

[0302] This application embodiment determines the first slave posture information by using the positive solution of the actual joint variables of the first slave joint of the first end effector, thereby determining the first slave posture information of the first end effector based on the actual posture of the first end effector, ensuring the authenticity and reliability of the posture information.

[0303] Step S1302: Determine the first master attitude information of the first operating unit based on the first slave attitude information, the mapping between the first operating unit and the slave operating device, specifically including the following steps:

[0304] Step 1: Based on the first slave attitude information and the mapping between the base coordinate system of the first end effector and the coordinate system of the imaging device, determine the second slave attitude information of the first end effector in the coordinate system of the imaging device.

[0305] Step 2: Based on the second slave posture information and the mapping between the coordinate system of the image device and the coordinate system of the display device, determine the second master posture information of the end of the first operation unit in the coordinate system of the display device.

[0306] Step 3: Based on the second master attitude information and the mapping between the coordinate system of the display device and the base coordinate system of the main operating console, determine the third master attitude information of the end of the first operating unit in the base coordinate system of the main operating console.

[0307] Step 4: Use the third master attitude information as the first master attitude information.

[0308] In this embodiment of the application, the first slave attitude information of the first end effector in the base coordinate system of the first end effector is converted into the first master attitude information of the end of the first operating unit in the base coordinate system of the main operating table through coordinate system transformation.

[0309] Step S1303: Determine the first joint variable based on the first master attitude information.

[0310] Based on kinematics, the first master attitude information is inversely decomposed into target joint variables of the joints in the first operating unit, such as the first joint variables corresponding to the first attitude joint, for example, position and / or rotation information. Optionally, depending on the actual situation, only the first joint variables corresponding to the first attitude joint that needs to be adjusted in the next step can be inversely decomposed, or it can be decomposed into the joint variables of all joints in the first operating unit. For example, if the first operating unit also includes a first position joint and a first rotation joint, the joint variables corresponding to the first position joint and the first rotation joint can be inversely decomposed at the same time as the first joint variables. It is understood that inversely decomposing only the first joint variables can improve processing efficiency and save system resources; the aforementioned attitude information can also be replaced with pose information, because pose includes attitude information.

[0311] This application embodiment ensures that the posture of the operating unit 120 is consistent with the posture of the medical device to be mapped during the linkage process, thereby simplifying the alignment process and enabling rapid surgical operations when the linkage is completed for surgery.

[0312] Optionally, the second operating unit includes a second posture joint, and further includes: after exiting the linkage mode, the second operating unit needs to control the third medical device; before entering the linkage mode, the second operating unit controls the fourth medical device, all of which are controlled by one hand, and also includes:

[0313] Alternatively, the second attitude joint can be controlled according to the second joint variable of the second operating unit to align the attitude of the second operating unit with the attitude of the third end effector. The specific control process is the same as that of controlling the first attitude joint according to the first joint variable to align the attitude of the first operating unit with the attitude of the first end effector, and will not be described again here.

[0314] In this embodiment of the application, by responding to the change in the master-slave mapping between the operation unit 120 and the surgical end effector during the linkage process, the posture of each operation unit 120 is made consistent with the posture of the medical device to be mapped, thereby ensuring that the alignment process is simplified and the surgical operation is performed quickly when the linkage is completed for surgery.

[0315] This application provides a surgical robot system, which includes a surgical robot and an operating table. A puncture device is mounted at the distal end of a drive arm for insertion into a body opening of a living organism located on the operating table. The system also includes a controller coupled to the surgical robot and the operating table, configured to execute the aforementioned control method for the surgical robot system, specifically including:

[0316] Obtain the position and orientation registration relationships between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table;

[0317] In response to the movement of the operating table, the first pose of the puncture device in the reference coordinate system of the operating table is obtained, where the first pose is the target pose of the puncture device in the reference coordinate system of the operating table after the movement of the operating table.

[0318] Based on the position registration relationship, the attitude registration relationship and the first pose, the second pose of the puncture device in the reference coordinate system of the surgical robot is determined, where the second pose is the target pose of the puncture device in the reference coordinate system of the surgical robot after the operating table moves.

[0319] Determine the target joint variables of the joints in the drive arm based on the second pose;

[0320] The joint movement is driven by the target joint variables to maintain the position of the puncture device relative to the operating table surface.

[0321] Alternatively, the controller is configured as follows:

[0322] Obtain the positional and orientation registration relationships between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table;

[0323] Based on the position registration relationship and the attitude registration relationship, the initial pose of the puncture device in the reference coordinate system of the operating table is obtained;

[0324] In response to the movement of the operating table surface, the motion amount of the operating table surface is acquired, and based on the position registration relationship, posture registration relationship, initial pose and motion amount, the target pose of the puncture device in the reference coordinate system of the surgical robot is determined; the target joint variables of the joints in the drive arm are determined based on the target pose.

[0325] The joint movement is driven by the target joint variables to maintain the position of the puncture device relative to the operating table surface.

[0326] In another embodiment provided in this application, a surgical device is provided. The surgical device may include either a surgical robot or an operating table. The surgical device includes a first ranging device, a driving device, and a controller. The surgical device is referred to as the first surgical device, and the controller is configured to:

[0327] Obtain the position and orientation registration relationships between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table;

[0328] In response to the movement of the operating table, the first pose of the puncture device in the reference coordinate system of the operating table is obtained, where the first pose is the target pose of the puncture device in the reference coordinate system of the operating table after the movement of the operating table.

[0329] Based on the position registration relationship, the attitude registration relationship and the first pose, the second pose of the puncture device in the reference coordinate system of the surgical robot is determined, where the second pose is the target pose of the puncture device in the reference coordinate system of the surgical robot after the operating table moves.

[0330] Determine the target joint variables of the joints in the drive arm based on the second pose;

[0331] The joint movement is driven by the target joint variables to maintain the position of the puncture device relative to the operating table surface.

[0332] Alternatively, the controller is configured as follows:

[0333] Obtain the positional and orientation registration relationships between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table;

[0334] Based on the position registration relationship and the attitude registration relationship, the initial pose of the puncture device in the reference coordinate system of the operating table is obtained;

[0335] In response to the movement of the operating table surface, the motion amount of the operating table surface is acquired, and based on the position registration relationship, posture registration relationship, initial pose and motion amount, the target pose of the puncture device in the reference coordinate system of the surgical robot is determined; the target joint variables of the joints in the drive arm are determined based on the target pose.

[0336] The joint movement is driven by the target joint variables to maintain the position of the puncture device relative to the operating table surface.

[0337] This application embodiment, by setting a ranging device and a driving device on the surgical robot or operating table, can determine the positional and orientational registration relationships between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, so as to control the driving arm to drive the movement of the puncture device, thereby keeping the position of the puncture device relative to the table surface of the operating table unchanged, thus achieving flexible adjustment of the body position of the organism while ensuring the life safety of the organism.

[0338] In another embodiment provided in this application, a surgical device is provided, which may include either a surgical robot or an operating table. The surgical device includes:

[0339] The identifier is used to be identified by a first ranging device located on a second surgical device to obtain the relative position of the first surgical device and the second surgical device as measured by the first ranging device, and to obtain the first relative posture between the first ranging device and the identifier as measured by a drive device located on the second surgical device.

[0340] The surgical equipment also includes a controller, which is configured to:

[0341] Obtain the position and orientation registration relationships between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table;

[0342] In response to the movement of the operating table, the first pose of the puncture device in the reference coordinate system of the operating table is obtained, where the first pose is the target pose of the puncture device in the reference coordinate system of the operating table after the movement of the operating table.

[0343] Based on the position registration relationship, the attitude registration relationship and the first pose, the second pose of the puncture device in the reference coordinate system of the surgical robot is determined, where the second pose is the target pose of the puncture device in the reference coordinate system of the surgical robot after the operating table moves.

[0344] Determine the target joint variables of the joints in the drive arm based on the second pose;

[0345] The joint movement is driven by the target joint variables to maintain the position of the puncture device relative to the operating table surface.

[0346] Alternatively, the controller is configured as follows:

[0347] Obtain the positional and orientation registration relationships between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table;

[0348] Based on the position registration relationship and the attitude registration relationship, the initial pose of the puncture device in the reference coordinate system of the operating table is obtained;

[0349] In response to the movement of the operating table surface, the motion amount of the operating table surface is acquired, and based on the position registration relationship, posture registration relationship, initial pose and motion amount, the target pose of the puncture device in the reference coordinate system of the surgical robot is determined; the target joint variables of the joints in the drive arm are determined based on the target pose.

[0350] The joint movement is driven by the target joint variables to maintain the position of the puncture device relative to the operating table surface.

[0351] This application embodiment sets markers on the surgical robot or operating table, thereby determining the positional and orientational registration relationships between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table. This facilitates the control of the drive arm to drive the puncture device, thus maintaining the position of the puncture device relative to the operating table surface. This allows for flexible adjustment of the organism's position while ensuring the organism's life safety.

[0352] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps described in the various method embodiments above.

[0353] This application also provides a control device for a surgical robot system, including:

[0354] Memory, used to load and execute computer programs;

[0355] A processor is used to load and execute computer programs;

[0356] The computer program is loaded and executed by the processor to implement the control method of the surgical robot system as described above.

[0357] This application provides a computer program product that, when run on a mobile terminal, enables the mobile terminal to implement the steps described in the above-described method embodiments.

[0358] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this invention. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0359] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0360] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0361] In the embodiments provided by this invention, it should be understood that the disclosed apparatus / terminal devices and methods can be implemented in other ways. For example, the apparatus / terminal device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0362] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0363] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0364] If an integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0365] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0366] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0367] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determination" or "if the described condition or event is detected" may be interpreted, depending on the context, as "once determination," "in response to determination," "once the described condition or event is detected," or "in response to the detection of the described condition or event."

[0368] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0369] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0370] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A surgical robot system, characterized in that, The surgical robot system includes a surgical robot and an operating table, with a puncture device mounted at the distal end of the drive arm for insertion into a body opening of a living organism located on the table surface of the operating table. The first surgical device is equipped with a first ranging device for measuring distance and a drive device for measuring the angle between the first ranging device and the first surgical device. The second surgical device is equipped with an identifier. The first surgical device includes one of a surgical robot and an operating table. The second surgical device includes the other of a surgical robot and an operating table. The system also includes a controller coupled to the surgical robot and the operating table, the controller being configured to perform the following control steps: Obtain the position registration relationship and attitude registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table; Based on the position registration relationship and the posture registration relationship, the initial pose of the puncture device in the reference coordinate system of the operating table is obtained; In response to the movement of the operating table surface, the amount of movement of the operating table surface is acquired, and based on the position registration relationship, the posture registration relationship, the initial pose and the amount of movement, the target pose of the puncture device in the reference coordinate system of the surgical robot is determined; Determine the target joint variables of the joints in the drive arm based on the target pose; The joint movement is driven according to the target joint variable to maintain the position of the puncture device relative to the operating table surface; The step of obtaining the positional registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table includes: When the first ranging device rotates under the drive of the driving device and scans the mark, the distance between the first ranging device and the mark is obtained, and the angle between the first ranging device and the first surgical device is obtained; Obtain the positional relationship between the first ranging device and the first surgical equipment, and the positional relationship between the marker and the second surgical equipment; Based on the distance, the included angle, the positional relationship between the first ranging device and the first surgical equipment, and the positional relationship between the marker and the second surgical equipment, the positional registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table is determined.

2. A surgical robot system, characterized in that, The surgical robot system includes a surgical robot and an operating table, with a puncture device mounted at the distal end of the drive arm for insertion into a body opening of a living organism located on the table surface of the operating table. The first surgical device is equipped with a first ranging device for measuring distance, a drive device for measuring the angle between the first ranging device and the first surgical device, and a second ranging device for measuring distance. The second surgical device is equipped with an identifier. The first surgical device includes one of a surgical robot and an operating table, and the second surgical device includes the other of a surgical robot and an operating table. The system also includes a controller coupled to the surgical robot and the operating table, the controller being configured to perform the following control steps: Obtain the position registration relationship and attitude registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table; Based on the position registration relationship and the posture registration relationship, the initial pose of the puncture device in the reference coordinate system of the operating table is obtained; In response to the movement of the operating table surface, the amount of movement of the operating table surface is acquired, and based on the position registration relationship, the posture registration relationship, the initial pose and the amount of movement, the target pose of the puncture device in the reference coordinate system of the surgical robot is determined; Determine the target joint variables of the joints in the drive arm based on the target pose; The joint movement is driven according to the target joint variable to maintain the position of the puncture device relative to the operating table surface; The step of obtaining the attitude registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table includes: The first distance between the surgical robot and the operating table is obtained by the first ranging device, and the angle between the first ranging device and the first surgical equipment is obtained by the driving device. Obtain the second distance between the surgical robot and the operating table as measured by the second ranging device; Obtain the angle between the second ranging device and the first surgical device; Obtain the positional relationship between the first ranging device and the second ranging device; Based on the first distance, the second distance, the angle between the first ranging device and the first surgical equipment, the angle between the second ranging device and the first surgical equipment, and the positional relationship between the first ranging device and the second ranging device, the attitude registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table is determined.

3. A surgical robot system, characterized in that, The surgical robot system includes a surgical robot and an operating table, with a puncture device mounted at the distal end of the drive arm for insertion into a body opening of a living organism located on the table surface of the operating table. The first surgical device is equipped with a first ranging device for measuring distance, a drive device for measuring the angle between the first ranging device and the first surgical device, and a second ranging device for measuring distance. The second surgical device is equipped with an identifier. The first surgical device includes one of a surgical robot and an operating table, and the second surgical device includes the other of a surgical robot and an operating table. The system also includes a controller coupled to the surgical robot and the operating table, the controller being configured to perform the following control steps: Obtain the position registration relationship and attitude registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table; Based on the position registration relationship and the posture registration relationship, the initial pose of the puncture device in the reference coordinate system of the operating table is obtained; In response to the movement of the operating table surface, the amount of movement of the operating table surface is acquired, and based on the position registration relationship, the posture registration relationship, the initial pose and the amount of movement, the target pose of the puncture device in the reference coordinate system of the surgical robot is determined; Determine the target joint variables of the joints in the drive arm based on the target pose; The joint movement is driven according to the target joint variable to maintain the position of the puncture device relative to the operating table surface; The step of obtaining the attitude registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table includes: The process of obtaining the attitude registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table includes: The first distance between the surgical robot and the operating table is obtained by the first ranging device, and the ranging signal of the first ranging device is substantially perpendicular to the first surgical equipment. The second distance between the surgical robot and the operating table is obtained by the second ranging device, wherein the second ranging device is installed substantially vertically on the first surgical equipment; Obtain the positional relationship between the first ranging device and the second ranging device; Based on the first distance, the second distance, and the positional relationship between the first ranging device and the second ranging device, the attitude registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table is determined.

4. A surgical robot system, characterized in that, The surgical robot system includes a surgical robot and an operating table, with a puncture device mounted at the distal end of the drive arm for insertion into a body opening of a living organism located on the table surface of the operating table. The first surgical device is equipped with at least two second ranging devices for ranging, and the first surgical device includes one of a surgical robot and an operating table; The system also includes a controller coupled to the surgical robot and the operating table, the controller being configured to perform the following control steps: Obtain the position registration relationship and attitude registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table; Based on the position registration relationship and the posture registration relationship, the initial pose of the puncture device in the reference coordinate system of the operating table is obtained; In response to the movement of the operating table surface, the amount of movement of the operating table surface is acquired, and based on the position registration relationship, the posture registration relationship, the initial pose and the amount of movement, the target pose of the puncture device in the reference coordinate system of the surgical robot is determined; Determine the target joint variables of the joints in the drive arm based on the target pose; The joint movement is driven according to the target joint variable to maintain the position of the puncture device relative to the operating table surface; The step of obtaining the attitude registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table includes: The second distance between the surgical robot and the operating table is obtained by at least two second ranging devices, and the second ranging devices are substantially perpendicular to the first surgical equipment. Obtain the positional relationship between the two second ranging devices; Based on the two second distances and the positional relationship between the two second ranging devices, the attitude registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table is determined.

5. The surgical robot system according to any one of claims 1-4, characterized in that, An imaging device is mounted at the distal end of the drive arm, the imaging device being inserted into the organism through the puncture device, and the controller is further configured to perform the following control steps: Acquire the image captured by the imaging device; In response to the detection that a target region in the image meets a first preset condition, a control command is sent to the operating table. The control command includes instructions for controlling at least one of the following: delayed adjustment, stopped adjustment, and deceleration adjustment of the operating table; wherein... The condition of meeting the first preset condition includes at least one of the following: The target surgical site or a marker associated with the target surgical site is identified in the target area; The target surgical site is positioned in a preset posture within the target area.

6. The surgical robot system as described in claim 5, characterized in that, The identification of the target surgical site or a marker associated with the target surgical site in the target area includes: The proportion of the target surgical site falling into the target area of ​​the image reaches a preset value for the target area; Alternatively, the number of markers falling into the target area of ​​the image and / or the proportion of the number of markers falling into the target area to the total number of markers reaches a preset value.

7. The surgical robot system according to any one of claims 1-4, characterized in that, The surgical robot includes a display device and an operating unit with multiple joints. A medical device is mounted at the distal end of the drive arm. The medical device includes an imaging device and a surgical end effector. The operating unit is configured to control the movement of the medical device, which is inserted into the organism through the puncture device. The controller is further configured to perform the following control steps: In response to a change in the master-slave mapping between the operating unit and the surgical end effector, the first pose of the surgical end effector in the coordinate system of the imaging device is obtained as desired by the operating unit. Based on the first posture and the registration relationship between the coordinate system of the image device and the coordinate system of the display device, the second posture of the operation unit in the coordinate system of the display device is determined; The target joint variables of the joints in the operating unit are determined based on the second posture; Drive the joint movement in the operating unit according to the target joint variable of the joint in the operating unit, so that the posture of the operating unit is consistent with the posture of the surgical end effector to be mapped.

8. A control device for a surgical robot system, characterized in that, include: Memory, used to store computer programs; Processor, used to load and execute the computer program; The computer program is loaded and executed by the processor to implement the control steps of the controller of the surgical robot system as described in any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, the computer program being configured to be loaded by a processor and executed to implement the control steps of the controller of the surgical robot system as described in any one of claims 1 to 7.

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